Nonlinear Modelling and Simulation of Underwater Robot in Shallow Water

摘要：

The underwater robot equipped with multi-thrusters on the different directions. It can realized direct lift control and direct side force control. It has two motion modes include cruise mode and hover mode. The hydrodynamic model of different motion modes are established and the model of waves is also established. Then the 6 degree nonlinear motion equation of the robot are established based on momentum theorem and momentum moment theorem. The model could simulate the robots motion both of cruise mode and hover mode and give help to the design of control system.

作者: Hui GE Demin XU

作者单位: Marine Engineering of Northwestern Polytechnical University, Xi An 710072, China

会议类型: 国际会议

会议名称: 第六届中国国际丝绸会议暨第二届国际纺织高层论坛(The 6th China International Silk Conference and The 2nd International Textile Forum)

会议地点: 苏州

会议语种:英文

页码: 38-40

在线出版日期: 2007-09-13（万方平台首次上网日期，不代表论文的发表时间）