Comparative analysis and the optimization of the autonomous underwater robots dynamic properties of different projects and configurations
Автор: Kiseljov L.V., Medvedev A.V.
Статья в выпуске: 1 (13), 2012 года.
Usually creation of autonomous underwater vehicles (AUV) presupposes the use of succession principle. It provides possibility to preserve and to increase the functional properties of vehicles and their control systems. The vehicles can possess of different tactical-technical data, but the dynamic requirements are general for variety spatial motions. The optimization of dynamic properties AUV assumes the construction of the adequate motion model, the identification of its parameters considering experimental dates, the synthesis of adaptive regulators with a change of the external forces. In the article are examined dynamics AUV models, which are notable for construction and designation. Give examples of the realization of some characteristic spatial motions.
Autonomous underwater vehicle, control system, dynamic processes, hydrodynamic
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