浮力调节系统在作业型AUV上的应用研究

本文根据我国正在研制开发的作业型水下机器人的特性及其对浮力调节和姿态控制的要求,应用PID控制策略,设计了一个浮力调节系统,仿真结果证明该设计方案可以达到预期的目标。(100039北京市中国科学院研究生院)常海龙

According to the characteristic and demand of buoyancy regulating and attitude controlling of one work autonomous underwa-ter vehicle which our country is developing, I designed a buoyancy regulating system which adopted PID control strategy. Through hy-drodynamic analysis and matlab simulation, the result has proved that the design can reach the anticipated goal.