THE NDRE-AUV FLIGHT CONTROL-SYSTEM

被引：111

作者：

JALVING, B

机构：

[1] The Norwegian Defence Research Establishment, N-2007, Kjeller Norway

来源：

IEEE JOURNAL OF OCEANIC ENGINEERING | 1994年 / 19卷 / 04期

关键词：

D O I：

10.1109/48.338385

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

The flight control system of an autonomous underwater vehicle (AUV) developed at the Norwegian Defence Research Establishment (NDRE) is presented. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems, and three autopilots are designed for steering, diving, and speed control. The design of the separate controllers is based on PID techniques. Results from extensive sea testing show robust performance and stability for the autopilot.

引用

页码：497 / 501

页数：5

共 9 条

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