论文部分内容阅读
针对50公斤级便携式自主水下机器人(AUV)的开发和研究,介绍了一种采用多种通信方式的分布式便携式AUV控制系统.着重推导和阐述了控制系统中X形舵与十字形舵之间的等效关系,并对水平面与垂直面的运动控制方法进行了说明.通过大量湖上和海上试验验证了所述方案和方法的合理性,并得到了满意的实际航行结果.
Aiming at the development and research of 50 kg portable autonomous underwater vehicle (AUV), a distributed and portable AUV control system using a variety of communication methods is introduced. The control system X-rudder and cruise control And the method of motion control between horizontal plane and vertical plane is illustrated.A lot of experiments on the lake and at sea are used to verify the rationality of the scheme and the method and to obtain satisfactory results of actual navigation.