Underwater Robot Control Based on Vector Model

被引：0
|
作者：
Xie, Fei [1 ]
Yang, Li [1 ,2 ]
Duan, Hailong [1 ,2 ]
Li, Kai [1 ]
机构：
[1] Tianjin Univ Technol & Educ, Tianjin Key Lab Informat Sensing & Intelligent Co, Tianjin 300222, Peoples R China
[2] Tianjin Univ Technol & Educ, Sch Automat & Elect Engn, Tianjin 300222, Peoples R China
来源：
2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC | 2022年
基金：
中国国家自然科学基金;
关键词：
Underwater robot; vector control; motion model; Matlab;
D O I：
10.1109/CCDC55256.2022.10033555
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Based on a variety of underwater robot motion control methods, the article proposes a new type of vector propulsion model. Through the vectorized research on the distribution of the underwater robot drives, and based on the existing physical objects, the forces generated by the drives are analyzed, and a stable underwater motion model is established. In the analysis process, we mainly analyze the force on the horizontal plane and the force on the vertical plane. Finally, Matlab is used to model and analyze the motion control of the underwater robot to ensure the accuracy and stability of the motion.
引用
收藏
页码：3882 / 3886
页数：5
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