CAJ | 학술논문

为研究无人水下航行器的控制系统设计，建立其一般动力学模型。因为模型具有较高的非线性特征，采用小扰动原理及摄动原理对模型简化。根据简化的模型设计航速、航向、纵倾和深度控制器，并分别进行仿真，仿真结果证明了设计的鲁棒性和稳定性。
위연구무인수하항행기적공제계통설계，건립기일반동역학모형。인위모형구유교고적비선성특정，채용소우동원리급섭동원리대모형간화。근거간화적모형설계항속、항향、종경화심도공제기，병분별진행방진，방진결과증명료설계적로봉성화은정성。
For studying the design of Unmanned Underwater Vehicle’ s control ing system,the article establishes UUV’ S dynamics modeling. Because of the great unlinear characteristics of UUV’ S modeling, the modeling is simplified with minor disturbing theory. Then based on this, it also designs control ing instruments of speed, sailing direction, pitch and depth. The results of simulation prove that the design is perfect.