哈尔滨工业大学学报（英文版）2005，Vol.12Issue(4)：456-459,4.
Dynamics model of underwater robot motion control in 6 degrees of freedom
Dynamics model of underwater robot motion control in 6 degrees of freedom
LI Ye 1LIU Jian-cheng 1SHEN Ming-xue1
作者信息
- 1. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
- 折叠
摘要
Abstract
In order to analyze underwater robot control system dynamics features, a system 6-DOF dynamics model was founded. Underwater robot linear and nonlinear hydrodynamics were analyzed by Taylor series,based on general motion equation. Special control system motion equation was deduced by cluster of inertial items and non-inertial items. For program convenience, motion equation matrix format was presented. Experimental principles of screw propellers, rudders and wings were discussed. Experimental data least-square curve fitting, interpolation and their corresponding traditional equation helped us to obtain the whole system dynamic response procedure. A series of simulation experiments show that the dynamics model is correct and reliable.The model can provide theory proof for analyzing underwater robot motion control system physics characters and provide a mathematic model for traditional control method.关键词
underwater robot/dynamics model/motion controlKey words
underwater robot/dynamics model/motion control分类
信息技术与安全科学引用本文复制引用
LI Ye,LIU Jian-cheng,SHEN Ming-xue..Dynamics model of underwater robot motion control in 6 degrees of freedom[J].哈尔滨工业大学学报（英文版）,2005,12(4):456-459,4.
