潜器近水面运动建模和操纵控制技术综述  

Overview on modeling and operation control technology for underwater vehicle's submerged motion near water surface

作　　者：宋江峰 殷洪[1] 董根金[1] 李继中 SONG Jiang-feng;YIN Hong;DONG Gen-jin;LI Ji-zhong(Wuhan Second Ship Design and Research Institute,Wuhan 430064,China)

机构地区：[1]武汉第二船舶设计研究所,湖北武汉430064

出　　处：《舰船科学技术》2020年第15期7-12,共6页Ship Science and Technology

摘　　要：本文综述了潜器在近水面航行时运动控制的研究现状。通过搜集和分析国内外的相关文献,主要从航行环境(如波浪、水面等)及操纵控制方式、控制策略等方面对航行体的数学建模与仿真方法进行介绍和评述,最后指出了潜器近水面航行操纵控制的研究方向。In this paper,the current research status of the motion control of underwater vehicle sailing near water surface is summarized.By collecting and analzing relevant literature at home and abroad,this paper mainly introduces the mathematical modeling and simulation of underwater vehicle from the navigation environment(wave,watersurface,etc),control mode and control strategy.The future trends of the researchon this topicare discussed in the end.

关 键 词：潜器 近水面 建模 运动控制 

分 类 号：U674[交通运输工程—船舶及航道工程]