【摘要】 运动控制是水下机器人自治化的核心,准确的动力学分析为分析控制系统的物理学特性提供了理论依据。以葛特勒为原始母型方程,深入分析了水下机器人在水下运动中的受力情况,建立了水下机器人水下运动的一般方程,为自治水下机器人控制系统的设计和仿真提供了调试环境。更多还原

【Abstract】 Movement control is the core of Underwater Vehicle autonomy,accurate kinetics analysis provides the theoret- ical basis for anglicizing physical characteristics of the control system.This thesis based on M.Gerder equation,deeply ana- lyzed the forces for the underwater robot during underwater movement,established the general equation for the Underwater Vehicle’s movement under the water,and provided a debugging environment for the design and simulation of Autonomous Underwater Vehicle control system.更多还原