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基于可旋转推进器的水下机器人运动控制研究
Alternative TitleResearch on motion control of AUV based on rotatable thruster
凌波; 李硕; 曾俊宝
Department水下机器人研究室
Source Publication机械设计与制造
ISSN1001-3997
2012
Issue1Pages:155-157
Contribution Rank1
Funding Organization机器人国家重点实验室资助项目(RLZ200810)
Keyword可旋转推进器 水下机器人 能耗 运动控制
Abstract通过对水下机器人在运动过程中的受力以及力矩分析,水下机器人采用可旋转推进器,所以要实现六自由度的运动只需要4个推进器,采用推进器布局。建立了基于可旋转推进器的水下机器人六自由度运动方程,并有针对性的对六自由度运动方程进行了简化。水下机器人运动控制的分析离不开动力学模型,所以对其进行受力和力矩分析是必要的。在简化的运动方程的基础上设计了运动控制系统,并使用Matlab对其进行仿真验证。
Other AbstractThrough analyzing the force and torque on AUV in motion process,rotatable thruster is adopted for AUV and four thrusters shall be applied to realize 6DOF motion.Then the 6-DOF kinetics equation of AUV is established based on rotatable thruster,which will be simplified specially.As it is known kinetics model is required to analyze motion control of the AUV,which bearing force and torque is therefore necessary to analyze.Based on the simplified motion equation the motion control system is designed which will be simulated and verified by applying Matlab. 更多
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9978
Collection水下机器人研究室
Corresponding Author凌波
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院研究生院
Recommended Citation
GB/T 7714
凌波,李硕,曾俊宝. 基于可旋转推进器的水下机器人运动控制研究[J]. 机械设计与制造,2012(1):155-157.
APA 凌波,李硕,&曾俊宝.(2012).基于可旋转推进器的水下机器人运动控制研究.机械设计与制造(1),155-157.
MLA 凌波,et al."基于可旋转推进器的水下机器人运动控制研究".机械设计与制造 .1(2012):155-157.
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