摘要
针对现有民用水下机器人产品少且价格昂贵的现状,提出并设计一种气控滑翔式水下机器人。该机器人以压缩空气作为动力源,结构简单、造价低廉。本研究对机器人的结构及工作过程进行了介绍,并推导了该机器人姿态调整闭环控制系统的传递函数,使用MABLAT进行了仿真分析,得到的结论验证了此闭环系统的可行性,并对此系统设计提供理论基础。
Faced with the present situation that the products of the existing civil underwater robot are few and the price is expensive, a type of pneumatic controlled gliding underwater robot is proposed and designed. The robot uses compressed air as the power source and has the advantages of simple structure and low cost. The paper intro- duces the structure and the process of work of the robot, derives the transfer function of the pose adjustment closedloop control system of the robot , then the simulation analysis by matlab is given to the system. The conclusion illustrates the feasibility of the closed-loop control system of pre-tension and provides theory basis for the its design.
出处
《液压与气动》
北大核心
2016年第6期69-73,共5页
Chinese Hydraulics & Pneumatics
关键词
水下机器人
气控
闭环控制系统
传递函数
underwater robot, pneumatic control, closed-loop control system, transfer function
