| 气控滑翔式水下机器人及其控制系统的分析 |
| |
| 引用本文： | 孙旭光,杨从从,陈俊峰,王冰,单世延. 气控滑翔式水下机器人及其控制系统的分析[J]. 液压与气动, 2016, 0(6): 69-73. DOI: 10.11832/j.issn.1000-4858.2016.06.014 |
| |
| 作者姓名： | 孙旭光 杨从从 陈俊峰 王冰 单世延 |
| |
| 作者单位： | 1. 淮海工学院 机械工程学院, 江苏 连云港 222000; 2. 中国矿业大学 机电工程学院, 江苏 徐州 221000 |
| |
| 摘 要： | 针对现有民用水下机器人产品少且价格昂贵的现状,提出并设计一种气控滑翔式水下机器人。该机器人以压缩空气作为动力源,结构简单、造价低廉。本研究对机器人的结构及工作过程进行了介绍,并推导了该机器人姿态调整闭环控制系统的传递函数,使用MABLAT进行了仿真分析,得到的结论验证了此闭环系统的可行性,并对此系统设计提供理论基础。
|
| 收稿时间： | 2016-01-20 |
The Pneumatic Controlled Gliding Underwater Robot and Its Analysis of Control System |
| |
| SUN Xu-guang,YANG Cong-cong,CHEN Jun-feng,WANG Bing,SHAN Shi-yan. The Pneumatic Controlled Gliding Underwater Robot and Its Analysis of Control System[J]. Chinese Hydraulics & Pneumatics, 2016, 0(6): 69-73. DOI: 10.11832/j.issn.1000-4858.2016.06.014 |
| |
| Authors: | SUN Xu-guang YANG Cong-cong CHEN Jun-feng WANG Bing SHAN Shi-yan |
| |
| Affiliation: | 1. School of Mechanical Engineering Huai Hai Institute of Technology, Lianyungang, Jiangsu 222000; 2. Mechanical and Electrical Engineering College, China University of Mining and Technology, Xuzhou, Jiangsu 221000 |
| |
| Abstract: | Faced with the present situation that the products of the existing civil underwater robot are few and the price is expensive, a type of pneumatic controlled gliding underwater robot is proposed and designed. The robot uses compressed air as the power source and has the advantages of simple structure and low cost. The paper introduces the structure and the process of work of the robot, derives the transfer function of the pose adjustment closed-loop control system of the robot , then the simulation analysis by matlab is given to the system. The conclusion illustrates the feasibility of the closed-loop control system of pre-tension and provides theory basis for the its design. |
| |
| Keywords: | |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《液压与气动》浏览原始摘要信息 |
|
点击此处可从《液压与气动》下载全文 |
|
