| 舵桨联合操纵水下机器人运动控制研究 |
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| 引用本文： | 王波,孙玉山,曹建,张国成.舵桨联合操纵水下机器人运动控制研究[J].控制工程,2011,18(3):439-443. |
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| 作者姓名： | 王波 孙玉山 曹建 张国成 |
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| 作者单位： | 哈尔滨工程大学,水下机器人技术国防科技重点实验室,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金资助项目(50879014) |
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| 摘 要： | 水下机器人空间运动具有耦合性和非线性等特点,具有良好品质的运动控制器是水下机器人完成各种作业的前提.针对某舵桨联合操纵小型自主式水下机器人运动控制问题进行了研究.对速度,深度和艏向控制系统进行了介绍,根据控制需求,建立了水下机器人动力学模型,对执行机构进行了描述,设计了水下机器人滑模控制方案,采用变速趋近项代替一般指数...
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| 关 键 词： | 水下机器人 控制系统 滑模控制 |
Research on Motion Control of Autonomous Underwater Vehicle Controlled by Thruster and Rudders |
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| WANG Bo,SUN Yu-shan,CAO Jian,ZHANG Guo-cheng.Research on Motion Control of Autonomous Underwater Vehicle Controlled by Thruster and Rudders[J].Control Engineering of China,2011,18(3):439-443. |
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| Authors: | WANG Bo SUN Yu-shan CAO Jian ZHANG Guo-cheng |
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| Affiliation: | WANG Bo,SUN Yu-shan,CAO Jian,ZHANG Guo-cheng(State Key Laboratory of Autonomous Underwater Vehicle,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | The motion of autonomous underwater vehicle(AUV) has the characters of coupling and nonlinearity.The motion controller with good performance is the precondition for AUV to accomplish tasks.Motion control of a small autonomous underwater vehicle controlled by thruster and rudders was researched.The velocity,depth and yaw control systems were introduced.Dynamics model of the AUV was constructed according to the control requirements.The actuators were introduced and a sliding mode algorithm was designed to con... |
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| Keywords: | autonomous underwater vehicle control system sliding mode control |
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