基于Simulink的水下无人机器人建模与仿真  

Modeling and Simulation of Remote Operated Vehicle Based on Simulink

作　　者：邢瑞毅 马世伟[1] 钟建鹏 XING Ruiyi;MA Shiwei;ZHONG Jianpeng(School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;Oceanbot Technology （Shanghai） Inc. ,Shanghai 200436 ,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]欧舶智能科技(上海)有限公司,上海200436

出　　处：《系统仿真技术》2018年第2期109-112,135,共5页System Simulation Technology

摘　　要：建立了Simulink环境下水下无人机器人(ROV)仿真模型,通过系统识别,得到该仿真模型的系统参数。分别在Simulink环境和实际系统中设计滑模控制器以实现俯仰角控制,并分析了2种情况下最优控制参数。结果表明:该仿真模型对实际系统中控制参数的调节具有参考价值。A simulation model of remote operated vehicle （ROV） was environment and the system parameters of the simulation model were obtained from system identification. Then, the pitch angle controller was designed in the Simulink environment and actual system respectively. The optimal control parameters under two conditions were analyzed. The results show that the simulation model provides a reference for control parameter adjustment in actual system.

关 键 词：水下无人机器人(ROV) SIMULINK环境 滑模控制器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]