海洋机器人变参数大时延控制系统补偿方法的研究

本文提出一种变参数大时延系统的补偿方法，具有传输滞后系统的幅相频率特性和时域特性，流体动力学变参数的修正方法和具有传输滞后和零阶保持器滞后的补偿仿真。

This paper propoxes a compensation approach to the control system with changeable parametersand large time delay.which poxses amplitude phaxes,frequency characteristics and time domain character-istics of transmission delay syxtem,correciton method for hydrodynamics changesable parameters, and com-pensation simulation of transmission delay and zero order keeper delay.