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在对扫雷具系统运动及受力分析的基础上,明确了扫索沿底地形跟随的控制机理;经过对数学模型的分析,选择时间采样简化模型法对变深海底进行了计算。
Based on the analysis of system movement and force analysis of sweeping mines, the control mechanism of tracing along the bottom terrain is defined. After analyzing the mathematical model, time-sampling simplified model is adopted to calculate the deep seafloor.