Design and Realization of Simulation System of Bionic Underwater Vehicle

被引：0
作者：
Xie Haibin [1 ]
Lin Longxin [1 ]
Shen Lincheng [1 ]
机构：
[1] Natl Univ Defense Technol, Coll Mech Engn & Automat, Changsha 410073, Hunan, Peoples R China
来源：
PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 4 | 2008年
关键词：
Bionic Underwater Vehicle; Simulation System; Multiple Undulating Fins; Hydrodynamic Model; Layered Control System;
D O I：
10.1109/CHICC.2008.4605801
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A simulation system was established in the Matlab/Simulink environment based on the bionic underwater vehicle propelled by multiple undulating fins. It was composed of motion and attitude controller and plant model including 6DOF rigid body kinetic model, carrier's hydrodynamic model, and multiple undulating fins' hydrodynamic model. All parts of the simulation system were designed in detailed, and a layered control system was put forward. Finally, the performance of the control channels for speed, depth and yawing were simulated in terms of the real design parameters and hydrodynamic coefficients. Results show that the simulation system has important significance to research on the dynamic of the bionic underwater vehicle and verify the design of control system
引用
收藏
页码：778 / 782
页数：5
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