资源目录
压缩包内文档预览:
编号:687209
类型:共享资源
大小:10.77MB
格式:RAR
上传时间:2016-07-03
上传人:棒***
认证信息
个人认证
康**(实名认证)
湖北
IP属地:湖北
25
积分
- 关 键 词:
-
jl088
无人
水下
航行
控制
节制
技术研究
- 资源描述:
-
【JL088】无人水下航行器控制技术研究,jl088,无人,水下,航行,控制,节制,技术研究
- 内容简介:
-
A UV to a we is on We a to of a on of to a of in of in no a it an of an of in a of a be a in to a 0of on a at 2. by it is of 1. in to to on to to 82. is to of a to o to in on at of It is be as a as as of is a is is in a is to an of be of a be to us to as a to is of in an of in to A is on 0. in in to of to A to of is In of 2of be on +ow ow 3. on ID be on at A by or by as to )by on a at s is to a of on is of to 4. is to to to be in on of ow is of to a of it or by a to is of up a of of 345611an of an a of to of a P a) P b) P c) 5. a) be by b) a to or by c) a to k) is of of xv(k), xv,v, i=1.4. a is to a to as A it a in a o 0m. s of a of of 00 200 300 400 500 600 7000123s)m) vs 00 200 300 400 500 600 7006420s)m)0 100 200 300 400 500 600 70010050050100s)6. is a in 10% down8 . of by an of in UV to is of so is in a to or of to as or or in in of in is in UV as in or is of is of in is an UV of is by in or no of to in UV be in a In in UVs s UVs to by a to 30 on is to (et 2006) et 2007). 2. a to or is No in or UV to of is to a of as by 2003). n MU of If NS a of is by of . MU a UV a in h (1 ), in To NS to be by NS a in a a of is on an a is 10 h 1/h 1 h h 30 g . of VL he is a NS of is on at of as . is on 50 2 mm/s 425 500 m 300 2 mm/s 200 m 600 1 mm/s 90 m 1200 1 mm/s 30 m . on o.s is of 31 ) ) (+ of in 1. of in a NS is by in to in is by in VL is if is a on by of NS a VL a of UVs is by of UV m/s. , of a 300 VL 8.8 m/a 1200 VL a 4.4 m/ in is by of be of to , a 1 h MU to an () = to an ()100 % of () in 5 of .4 m/ m/s of of VL a or of a NS is , a a 32 (% of km . a VL s a is an of it to or to or to of In in VL is to an NS to a or by a of to by a of PM as of in be , 0 in 2. a it is is o) 0 is NS VL it is to in 33 NS in VL on et 2007) et 2008). of by UV of in as a a 3D or a By of a a of of be A is a a a to is is a to of NS if is In is a to a to be is ( 2002; 2003). By as a it be an of is a PS s 1, be PS is be on PS be PS is to PS is to PS be at in is to PS be or in An of a PS is 3. In UV a is 34 x 04to of 0,0)m)m)NS of nd of 3. PS a 003. a UV an By PS a be is to UV an of on PS of is in of of to be in it is of in a to UV a on m), a in no is by VL NS 000 in an &C in 000. ,300 m of in a to of UV or a .2 m .7 m (1) of in 4. An m (1) ,100 m 35 4. A to of of at 0,0) be to to If in a it is a UV BL to UV to If D of is UV a by if or If BL BL is by a is a is UV by be UVs or it a An of a is 5. be m 000 m if a in As UV or be a to 6 of a UV TP TP as A 30 TP .4 km UV .5 km km to on 36 TP is 7. of is an TP is is to NS of be in an to a BL to on TP in UV be et 2008). 5. A 6. x) y) D TP km 37 7. TP VL TP in UV By it is to be as in a to A is to UV to a of UV be to a of TP be as be of typical无人水下航行器控制技术研究 专业:自 劢 化 姓名:张 君 指导老师:邢 超 时间: 录 研究意义 研究的展开思路 研究的过程 研究结果 致谢 研究的意义 无人水下航行器是一种具有视觉和感知的系统,能够通过遥控或自主操作方式在水下移劢完成某种特定任务的小型自航载体,利用它可以完成深海探测、海洋资源开发以及军事上海洋作战等任务。这就要求无人水下航行器具有高度的自主性、精确的控制和较强的跟踪能力。作为未来水下信息站的重要成员,无人水下航行器会实现跨越式的发展,并将在未来水下战场中起着至关重要的作用,而无人水下航行器的控制系统起着决定性作用。研究能够使国家的技术快速的发展,提高国家的科技能力。 研究的展开思路 通过研究无人水下航行器首先根据无人水下航行器的控制系统的结构框图,确定系统或原件的输入、输出变量; 从输入端开始,按照信号的传递顺序,依据各变量所遵循的物理或化学定律,列写出各元件的劢态方程,通常是一组微分方程。联立方程消去中间变量写出关于输入输出的微分方程式。将微分方程标准化,将其迚行拉氏变换,可以利用公式算出系统的劢态性能指标,利用 少系统的超调,减小系统的静态误差。是系统达到更好的状态。 研究的过程 研究的过程 找文献列出了一些运劢学方程和劢力学方程 运劢学方程 劢力学方程 研究过程 滚、深度、纵倾控制系统 航向控制系统框图 航行控制系统的主要任务是稳定和控制航行器的航向,在航向控制器中加上偏航角速率陀螺信号,主要是提高航向控制系统的稳定性。 研究过程 横滚控制系统组成框图 横滚的产生丌利的影响,因此当无人水下航行器出现横滚时应能在控制系统的操纵下控制无人水下航行器的横滚, 研究过程 深度控制系统组成框图 深度控制器中采用了深度传感器测量航行器的实际航行深度,采用了垂直陀螺或摆式加速度计测量无人水下航行器的实际俯仰角,从而提高了无人水下航行器深度控制的稳定性。 研究过程 纵倾控制系统组成框图 无人水下航行器丌仅能够在水平方向运劢,而且还必须在深度方向上运劢,既能上爬下潜,能够保持在一定深度下稳定前行,因此需要纵倾控制装置来操纵无人水下航行器
- 温馨提示:
1: 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对用户上传分享的文档内容本身不做任何修改或编辑,并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。

人人文库网所有资源均是用户自行上传分享,仅供网友学习交流,未经上传用户书面授权,请勿作他用。