哈尔滨工程大学学报Issue(5)：566-570,579,6.DOI:10.3969/j.issn.1006-7043.201303010
微小型自主式水下机器人系统设计及试验
Design and experiment of the mini autonomous underwater vehicle system
摘要
Abstract
This paper presents the design of the mini-AUV,which is used to research the intelligent control methods of the autonomous underwater vehicle(AUV). First,the system structure and key subsystem of the mini-AUV are introduced in detail. In order to solve the motion control system′s coupling problem,three divided motion control systems are used to fulfill the AUV movement control target. Some AUV motion control experiments were done. The results show that the mini-AUV is able to complete all of the autonomous motion control targets,providing an impor-tant reference for the same type of underwater vehicles.关键词
微小型水下机器人/自主式水下机器人/运动控制/系统结构/PID 控制算法/控制器Key words
mini underwater vehicle/autonomous underwater vehicle/movement control/system structure/PID control algorithm/controller分类
信息技术与安全科学引用本文复制引用
魏延辉,田海宝,杜振振,刘鑫,郭志军,赵大威..微小型自主式水下机器人系统设计及试验[J].哈尔滨工程大学学报,2014,(5):566-570,579,6.基金项目
国家自然科学基金资助项目（51205074）；国家科学技术部国际科技合作项目基金资助项目（2014DFR10010）；中央高校基本科研业务基金资助项目（HEUCF041402）；高等学校博士学科点专项科研基金资助项目（20112304120007）；哈尔滨市科技创新人才研究专项基金资助项目 （）
