水下滑翔机器人控制系统设计与实现

本文以水下滑翔机器人为研究对象,首先简要介绍了水下滑翔机器人的总体结构,然后重点研究了其控制系统的设计方案,阐述了控制系统软、硬件的设计与实现,通过水下滑翔机器人湖试验证了控制系统设计合理,运行正确,实现了水下滑翔机器人的基本运动。

In order to implement the basic movement of an underwater glider,after introducing the configuration of the underwater glider, the detailed design scheme of control system is given, including the design and realization of hardware and software. Finally, the lake experiments are conducted to verify the rationality and correctness of the proposed scheme.

国家自然科学基金项目资助(编号:60405010)