Modeling and Motion Control System Research of a Mini Underwater Vehicle

被引：0
|
作者：
Wang, Bo [1 ]
Su, Yumin [1 ]
Wan, Lei [1 ]
Li, Yueming [1 ]
机构：
[1] Harbin Engn Univ, State Key Lab Autonomous Underwater Vehicle, Harbin 150001, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
underwater vehicle; control system; dynamics model; system architecture; ROBOTS; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Spatial motion mathematic model of a mini autonomous underwater vehicle (in short, AUV) controlled by thruster and fins was established. The forces acting on the AUV were analyzed and the main hydrodynamic coefficients were determined both theoretically and experimentally. The embedded motion control system was introduced in detail, including hardware architecture, software architecture, information flow and etc. Considering the characteristics of the vehicle, the basic motion controller was designed based on S control method. Finally, a series of the AUV control system experiments in lake were done to verify the basic performance of the motion control system.
引用
收藏
页码：4463 / 4467
页数：5
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