中南大学学报（自然科学版）2016，Vol.47Issue(11)：3664-3669,6.DOI:10.11817/j.issn.1672-7207.2016.11.007
一种摆式球形水下机器人水底滚动特性分析
Analysis of rolling characteristics at water bottom for spherical robot with heavy pendulums
摘要
Abstract
In order to know the robot rolling characteristics of BYSQ-2 spherical underwater, the rolling equation was established and an impact on rolling at the bottom of water was analyzed with the robot’s quality and the motor’s speed. After making comparison of the rolling characteristics under water with different quality and motor speed, the simulation results show the volatility characteristics and show that increasing the quality and the moderate motor speed can effectively improve the rolling stability of the robot at the bottom of water.关键词
球形机器人/无人水下航行器/水底滚动/虚拟仿真Key words
spherical robot/unmanned underwater vehicle/neural network control/sliding mode method分类
信息技术与安全科学引用本文复制引用
李艳生,孙汉旭,贾庆轩,张延恒,褚明..一种摆式球形水下机器人水底滚动特性分析[J].中南大学学报（自然科学版）,2016,47(11):3664-3669,6.基金项目
国家自然科学基金资助项目(51175048)(Project(51175048) supported by the National Natural Science Foundation of China) （51175048）
