CAJ | 학술논문

为了解决自主式水下机器人智能控制问题，设计了一种微小型自主式水下机器人。介绍了微小型自主式水下机器人的系统结构和关键部分系统，然后针对运动控制系统耦合问题，采用3个分控制系统方式实现水下机器人运动控制，最后进行了自主式水下机器人运动控制的试验研究。试验结果表明：研制微小型自主式水下机器人及其控制系统能够完成自主运动任务，实现自主化，为同类型的水下机器人提供参考。
위료해결자주식수하궤기인지능공제문제，설계료일충미소형자주식수하궤기인。개소료미소형자주식수하궤기인적계통결구화관건부분계통，연후침대운동공제계통우합문제，채용3개분공제계통방식실현수하궤기인운동공제，최후진행료자주식수하궤기인운동공제적시험연구。시험결과표명：연제미소형자주식수하궤기인급기공제계통능구완성자주운동임무，실현자주화，위동류형적수하궤기인제공삼고。
This paper presents the design of the mini-AUV,which is used to research the intelligent control methods of the autonomous underwater vehicle(AUV). First,the system structure and key subsystem of the mini-AUV are introduced in detail. In order to solve the motion control system′s coupling problem,three divided motion control systems are used to fulfill the AUV movement control target. Some AUV motion control experiments were done. The results show that the mini-AUV is able to complete all of the autonomous motion control targets,providing an impor-tant reference for the same type of underwater vehicles.