| 水下机器人平面直航运动稳定性分析 |
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| 引用本文： | 刘振明,潜伟建,夏志澜.水下机器人平面直航运动稳定性分析[J].船舶工程,2004,26(3):54-56. |
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| 作者姓名： | 刘振明 潜伟建 夏志澜 |
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| 作者单位： | 海军工程大学动力工程学院,430033;海军工程大学训练部,430033 |
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| 摘 要： | 应用古尔维茨(Hurwitz)判别法对水下机器人平面扰动运动微分方程的特征方程式根的实部符号进行判断，进而用一次近似法对水下机器人平面直航稳定性进行分析，试图为水下机器人在稳定性方面的设计以及对其稳定性进行评估提供可靠的依据。最后，实例说明该方法可行。
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| 关 键 词： | 自动控制技术 水下机器人 稳定性 控制 |
Analysis of Dynamic Stability of Underwater Vehicle Navigating in Planar and straight Course |
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| Liu Zhenming,Qian Weijian and Xia Zhilan.Analysis of Dynamic Stability of Underwater Vehicle Navigating in Planar and straight Course[J].Ship Engineering,2004,26(3):54-56. |
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| Authors: | Liu Zhenming Qian Weijian and Xia Zhilan |
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| Abstract: | In this paper,in order to provide a suitable method for stability design and a reliable basis for stability estimation of an underwater vehicle navigating in planar and straight course,the root condition of the characteristic equation of the stir differential equation of the underwater vehicle is judged by using Hurwitz discriminance,and then its stability is analyzed by the first approximation.Finally,an example is given to prove the method is available. |
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| Keywords: | Automatic control technique Underwater vehicle Stability Control |
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