摘要
操纵性是载人潜器的重要性能,通过载人潜器的运动仿真可以对于载人潜器的操纵性进行评估,本文以水下维修载人潜器为研究对象,建立了载人潜器空间六自由空间运动数学模型的基础上,利用Matlab的S-function建立了基于Simulink的载人潜器控件运动仿真系统,进行了载人潜器运动仿真,为运动控制系统设计提供了重要依据。
Maneuverability is an important property of HOV（Human Occupied Vehicle）. The HOV motion simulation for underwater repair HOV can give assessment to maneuverability. Taking underwater repair HOV as a research object, based on establishing HOV space six free degree space motion mathematical model, the Matlab S-function is used to construct the control motion simulation system for HOV. The motion simulation is carried out, which provides important basis for the design of motion control system.
出处
《船舶标准化工程师》
2016年第5期23-28,45,共7页
Ship Standardization Engineer
基金
大型油气田及煤层气开发项目27
子课题五"深水水下应急维修装备与技术"
课题编号:2011ZX05027-005
关键词
水下维修载人潜器
六自由度
数学模型
运动仿真
underwater repair HOV
six free degree
mathematical model
motion simulation
