华中科技大学学报（自然科学版）Issue(6)：106-111,6.DOI:10.13245/j.hust.150620
多翼自治水下机器人动力学建模与姿态控制
Dynamic modeling for multi-wing autonomous underwater vehicle motion control system
摘要
Abstract
In order to improve the stability and performance of multi‐wing autonomous underwater ve‐hicle′s attitude control ,An attitude control system with all parameters was designed for the multi‐wing autonomous underwater vehicle to research multi‐wing control methods .Firstly ,through the dynamics and kinematics analysis of multi‐wing autonomous underwater vehicle ,its motion control model with all parameters was established ;Then on this basis ,the whole control system model of the underwater vehicle was built and the attitude control system based on linear quadratic regulator was designed;At last ,the simulation experiments of attitude control were conducted ,and the results showed that multi‐wing autonomous underwater vehicle could rapidly follow the target attitude with stability in the case of some external disturbances ,the established attitude controller and the control model could meet the autonomous control requirements of the multi‐wing underwater vehicle ,which was verified to achieve the purpose of controller design .关键词
多翼自治水下机器人/姿态控制/全参数控制模型/控制系统/线性二次型Key words
multi-wing autonomous underwater vehicle/attitude control/control model with all pa-rameters/control system/linear quadratic regulator (LQR)分类
信息技术与安全科学引用本文复制引用
魏延辉,杜振振,陈巍,张晓宇..多翼自治水下机器人动力学建模与姿态控制[J].华中科技大学学报（自然科学版）,2015,(6):106-111,6.基金项目
国家自然科学基金资助项目（51205074，61473095）；科技部国际科技合作项目（2014DFR10010）；中央高校基本科研业务费资助项目（HEUCF041505）；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资金资助项目（RC2012QN009037）． （）
