水下机器人在海洋勘测和军事侦探等领域具有重要作用。本文主要研究水下机器人水动力性能分析和仿真。通过分析静稳定性和动稳定性找出水下机器人处于自适应稳定下的充分必要条件。最后设计了水下机器人稳定仿真平台,通过实验结果表明,水下机器人自适应稳定运动可行。
Underwater robot plays an important role in the field of ocean reconnaissance and military detective. In this paper, the hydrodynamic performance analysis and Simulation of underwater robot were studied. By analyzing the static stability and dynamic stability, the necessary and sufficient conditions were found for the underwater robot. At last, the simulation platform of underwater robot was designed. The simulation results showed that the adaptive and stable motion of the underwater robot was feasible.
2017,39(1A): 124-126 收稿日期:2016-10-08
DOI:10.3404/j.issn.1672-7619.2017.1A.042
分类号:U665.26A
作者简介:刘恕华(1967-),女,副教授,研究方向为计算机应用研究。
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