水下机器人平面直航运动稳定性分析  

Analysis of Dynamic Stability of Underwater Vehicle Navigating in Planar and straight Course

作　　者：刘振明[1] 潜伟建[2] 夏志澜[1] 

机构地区：[1]海军工程大学动力工程学院,硕士研究生430033 [2]海军工程大学训练部,博士教授430033

出　　处：《船舶工程》2004年第3期54-56,共3页Ship Engineering

摘　　要：应用古尔维茨 (Hurwitz)判别法对水下机器人平面扰动运动微分方程的特征方程式根的实部符号进行判断 ,进而用一次近似法对水下机器人平面直航稳定性进行分析 ,试图为水下机器人在稳定性方面的设计以及对其稳定性进行评估提供可靠的依据。最后 ,实例说明该方法可行。In this paper,in order to provide a suitable method for stability design and a reliable basis for stability estimation of an underwater vehicle navigating in planar and straight course,the root condition of the characteristic equation of the stir differential equation of the underwater vehicle is judged by using Hurwitz discriminance,and then its stability is analyzed by the first approximation.Finally,an example is given to prove the method is available.

关 键 词：自动控制技术 水下机器人 稳定性 控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]