共查询到20条相似文献,搜索用时 15 毫秒
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控位滑行航行器是一种结构简单、能源的利用率高,同时机动性也较好的新型水下航行器.为了解决控位滑行航行器的运动优化控制,针对控位滑行航行器的滑翔和近水面的控位运动稳定性问题,利用控位和滑翔运动特点,根据动量和动量矩定理建立了航行器空间运动数学模型,通过MATLAB/ Simulink软件模块建立了航行器空间六自由度运动仿真模型,并对滑翔和控位运动弹道进行了仿真,分析总结了航行器在不同运动模式和工况下的稳定性,并对不同参数条件下的航行器稳定性品质和衰减历程进行了对比.结果表明在给定的初始条件下控位滑行航行器是能按照预设轨迹航行,完成航行任务,满足设计要求的. 相似文献
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A terrain‐aided navigation method for an underwater glider is proposed that is suitable for use in ice‐covered regions or areas with heavy ship traffic where the glider may not be able to surface for GPS location updates. The algorithm is based on a jittered bootstrap algorithm, which is a type of particle filter that makes use of the vehicle's dead‐reckoned navigation solution, onboard altimeter, and a local digital elevation model (DEM). An evaluation is performed through postprocessing offline location estimates from field trials that took place in Holyrood Arm, Newfoundland, overlapping a previously collected DEM. During the postprocessing of these trials, the number of particles, jittering variance, and DEM grid cell size were varied, showing that convergence is maintained for 1,000 particles, a jittering variance of 15 , and a range of DEM grid cell sizes from the base size of 2 m up to 100 m. Using nominal values, the algorithm is shown to maintain bounded error location estimates with root‐mean‐square (RMS) errors of 33 and 50 m in two sets of trials. These errors are contrasted with dead‐reckoned errors of 900 m and 5.5 km in those same trials. Online open‐loop field trials were performed for which RMS errors of 76 and 32 m‐ were obtained during 2‐h‐long trials. The dead‐reckoned error for these same trials was 190 and 90 m, respectively. The online open‐loop trials validate the filter despite the large dead‐reckoned errors, single‐beam altitude measurements, and short test duration. 相似文献
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混合驱动水下滑翔机(Hybrid-driven underwater gliders ,简称HDUGs)是集无人自治水下机器人(Automomous Underwater Vehicles ,简称 AUVs)和水下滑翔机(Autonomous Underwater Gliders,简称 AUGs)于一体的新型水下机器人。由于HDUGs是非线性、强耦合,且受到海流、结构不确定等因素的影响,为了克服这些问题,针对混合驱动水下机器人工作在混合模式下,对其垂直面提出了一种基于逆模型和滑模控制的非线性控制方法,该方法将原始系统解耦为两个单入单出的线性系统,仿真结果证明了该方法具有良好的控制性能,而且对外界扰动具有一定的鲁棒性。 相似文献
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Tang Jingge Chang Jian Li Bin Zhang Aiqun 《International Journal of Control, Automation and Systems》2021,19(9):3190-3198
International Journal of Control, Automation and Systems - An underwater gliding snake-like robot (UGSR) combines the advantages of an underwater glider (UG) and an underwater snake-like robot... 相似文献
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水下船体清刷机器人运动分析及仿真 总被引:2,自引:0,他引:2
本文分析了水下船体清刷机器人的运动,建立了机器人运动学方程,根据所设计的伺服控制系统对机器人系统进行了运动仿真.结果表明,所设计的机器人系统鲁棒性好,满足设计要求. 相似文献
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Yunong Zhang Weibing Li Bolin Liao Dongsheng Guo Chen Peng 《Journal of Intelligent and Robotic Systems》2014,75(3-4):393-411
Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile platform are investigated in this paper. In order for the mobile manipulator robotic system (MMRS) to return to its initial state when the manipulator’s end-effector is requested to execute cyclical tasks, a quadratic program (QP) based repetitive motion planning and feedback control (RMPFC) scheme is proposed and analyzed. Such an RMPFC scheme can not only mix motion planning and reactive control, but also consider the physical limits of the robotic system. Mathematically, the efficacy of the RMPFC scheme is verified via gradient dynamics analysis. To further demonstrate the effectiveness of the RMPFC scheme, a kinematically redundant MMRS composed of a three degrees-of-freedom (DOF) planar manipulator and an omnidirectional mobile platform is designed, modeled and analyzed. Then, repetitive motion planning and feedback control for the designed omnidirectional MMRS is studied. Besides, a numerical algorithm is developed and presented to solve the QP and resolve the redundancy of the robotic system. Moreover, computer simulations are comparatively performed on such an omnidirectional MMRS, and simulation results substantiate the effectiveness, accuracy and superiority of the proposed RMPFC scheme. 相似文献
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超空泡水下航行器机动运动由于有空泡的时间延迟效应和重力效应的存在,使得航行器与直航超空泡航行器的运动特性有很大的不同;进行纵平面运动分析,是对航行器实施深度控制和姿态控制的前提;考虑时间延迟效应和重力效应引起的空泡轴变形,建立超空泡航行器机动航行纵平面运动模型,推导纵平面运动传递函数,并以某小口径(约200mm)超空泡水下航行器的特征参数为例分析其运动特性;纵平面运动特性分析为超空泡水下航行器机动运动的系统设计和控制提供了重要参考。 相似文献
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Juan Pablo Julca Avila Julio Cezar Adamowski Newton Maruyama Fabio Kawaoka Takase Milton Saito 《Journal of Intelligent and Robotic Systems》2012,66(1-2):37-56
A semi-autonomous unmanned underwater vehicle (UUV), named LAURS, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions of deep water oil fields. In this work, a method of modeling and identification of yaw motion dynamic system model of an open-frame underwater vehicle is presented. Using an on-board low cost magnetic compass sensor the method is based on the utilization of an uncoupled 1-DOF (degree of freedom) dynamic system equation and the application of the integral method which is the classical least squares algorithm applied to the integral form of the dynamic system equations. Experimental trials with the actual vehicle have been performed in a test tank and diving pool. During these experiments, thrusters responsible for yaw motion are driven by sinusoidal voltage signal profiles. An assessment of the feasibility of the method reveals that estimated dynamic system models are more reliable when considering slow and small sinusoidal voltage signal profiles, i.e. with larger periods and with relatively small amplitude and offset. 相似文献
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