【摘要】 根据水下机器人运动的一般方程,分析了其所受线性和非线性水动力的影响,进而推导出水下机器人控制系统的运动方程.讨论了螺旋桨和舵、翼的推力解算方法和整个系统的动力学响应过程.为分析控制系统的物理学特性提供了理论依据.更多还原

【Abstract】 Based on the general motion equation of underwater vehicle, linear and nonlinear hydrodynamics are analyzed. The motion equation of underwater vehicle control system is deduced. Thrust calculation of propeller, rudder, wing, and dynamic response of the whole system are discussed. The model provides a theoretical basis for analyzing the physical characteristics of control systems.更多还原