海洋机器人的闭环控制与流体动力学模型

本文给出一开启式海洋机器人的水平面运动与垂直面运动的流体动力学模型,闭环控制,解耦设计和仿真结果。本文对海洋机器人控制系统设计,有一定参考价值。

This paper presents hydrodynamics models for the marine robot HR-1 relatingto its motions in a horizontal plane and to motions in a verticle plane,and besides,the results of its closed-loop control,decoupling design and simulation.All theseare helpful to control system design of marine robots.