水下机器人运动控制与仿真的数学模型

本文首先确定了水下机器人六自由度空间运动模型，为了便于在控制与仿真中应用，本文借助matlab平台，将水下机器人的六个自由度的方程转换为矩阵乘形式，然后结合水下机器人的环境仿真，推力器仿真，舵翼仿真，建立了水下机器人六自由度运动记真器。最后用该仿真器进行了运动仿真，仿真结果与海上试验吻合得很好，表明该仿真系统是符合实际的，该仿真系统采用一种普遍实用的数学模，精度较高，适用于任何类型的水下机器人，对研究水下机器人操纵与控制有很大现实意义。

A Mathematical Model for Motion Control and Simulation of Underwater Vehicle

The six degrees of freedom manoeuvrability equations of the underwater vehicle are given first,these differential equations are transformed to matrix equations with matlab tools which is better applid in motion control and simulation.Then environment simulation,thruster simulation and rudder simulation are discussed.Some trials are carried out with this simulation system,and the results shown relative good comparability between the model and the real vehicle.This simulation system is a normal,generalized and practical model which takes into account all nonlinear hydrodynamic,has better accuracy,and can be applied to all UV which are very useful for the research of maneuverability and adaptive control of underwater vehicles.