超小型水下机器人潜浮运动控制

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Heave Motion Control for Submini Underwater Vehicle

ZHAI Yu yi;CHEN Yong;GONG Zhen bang;TANG Hai bin;MA Jin ming

Department of Fine Mechanics, Shanghai University, Shanghai 200072, China

Received:1900-01-01 Revised:1900-01-01 Online:2007-03-20 Published:2007-03-20

Abstract

Abstract: Based on the mathematical model used in a self designed underwater vehicle, a simulation model is induced. Reasonable simplification has been made in model. Having analyzed the overall performance, correction to the system using the PID algorithm is proposed. The PID parameters are calibrated, and its effects on the digital PID controllers are analyzed. Simulation has been performed with Simulink providing some useful results.

Key words: underwater vehicle, simulation model, manipulative control, controller

ZHAI Yu yi;CHEN Yong;GONG Zhen bang;TANG Hai bin;MA Jin ming. Heave Motion Control for Submini Underwater Vehicle[J]. Journal of Applied Sciences.

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Heave Motion Control for Submini Underwater Vehicle

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