角速率陀螺在海洋机器人“海人1号”航向控制中的应用

本文给出“海人1号”航向控制的流体动力学模型、航向控制系统结构,海上实验记录以及角速率陀螺作用原理和分析。这将对从事海洋机器人控制系统的设计研究,有一定的考参值价。

This paper preents the hydrodynamic model and system structure of the heading control for the marine robot HR-01, The experimental results under the sea are given. The operation principle and analysis of the rate of turn gyroscope are discussed briefly. This paper can give some reference to the design and research of narine robot control system.