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本文给出一开启式海洋机器人的水平面运动与垂直面运动的流体动力学模型,闭环控制,解耦设计和仿真结果。本文对海洋机器人控制系统设计,有一定参考价值。
In this paper, a hydrodynamic model, closed-loop control, decoupling design and simulation results of horizontal and vertical motions of an open marine robot are presented. This article has certain reference value to the design of marine robot control system.