基于SIMULINK的水下无人机器人建模与仿真  

Modeling and Simulation for Underwater Unmanned Robot Based on SIMULINK

作　　者：胡六四[1] HU Liu-si(College of Software,Anhui Vocational College of Electronics ＆ Information Technology,Bengbu 233000,Anhui,Chin)

机构地区：[1]安徽电子信息职业技术学院软件学院,安徽蚌埠233000

出　　处：《兰州文理学院学报（自然科学版）》2018年第3期59-63,共5页Journal of Lanzhou University of Arts and Science(Natural Sciences)

摘　　要：针对水下无人机器人的建模问题,主要研究六自由度的运动模型,并通过仿真模型的建立,得到了模型的最优系统参数.分别在SIMULINK仿真模型和实际模型下进行了模糊控制器的设计,并分析两种情况下最优控制参数.仿真结果表明,本研究的SIMULINK仿真对实际系统中控制参数的调节具有参考价值.In view of the modeling of underwater unmanned robot,the motion model of six degrees of freedom is mainly studied in this paper,and the optimal system parameters are obtained through the establishment of the simulation model.The design of the fuzzy controller is carried out under the SIMULINK simulation model and the actual model,and the optimal control parameters are analyzed in the two cases.The simulation results show that the SIMULINK simulation of this study is of refer-ence value to the control parameters regulation in the actual system.

关 键 词：水下无人机器人 SIMULINK仿真 滑模控制器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]