The six degrees of freedom manoeuvrability equations of the underwater vehicle are given first,these differential equations are transformed to matrix equations with matlab tools which is better applid in motion control and simulation.Then environment simulation,thruster simulation and rudder simulation are discussed.Some trials are carried out with this simulation system,and the results shown relative good comparability between the model and the real vehicle.This simulation system is a normal,generalized and practical model which takes into account all nonlinear hydrodynamic,has better accuracy,and can be applied to all UV which are very useful for the research of maneuverability and adaptive control of underwater vehicles.
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China Classification Code:TP242
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[1]常文君,刘建成,于华南,徐玉如.水下机器人运动控制与仿真的数学模型[J].船舶工程,2002(03):58-60.
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