[1]张铭钧,宋炜胥,褚振忠.自主式水下机器人模糊定性建模方法研究[J].哈尔滨工程大学学报,2013,(01):116-122.[doi:10.3969/j.issn.1006-7043. 201205069]
 ZHANG Mingjun,SONG Weixu,CHU Zhenzhong.Research on the method of fuzzy qualitative modeling for AUV[J].hebgcdxxb,2013,(01):116-122.[doi:10.3969/j.issn.1006-7043. 201205069]
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自主式水下机器人模糊定性建模方法研究(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2013年01期
页码:
116-122
栏目:
出版日期:
2013-01-25

文章信息/Info

Title:
Research on the method of fuzzy qualitative modeling for AUV
文章编号:
1006-7043(2013)01-0116-07
作者:
张铭钧 宋炜胥 褚振忠
哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001
Author(s):
ZHANG Mingjun SONG Weixu CHU Zhenzhong
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
水下机器人运动建模模糊定性仿真状态转换
分类号:
TP24
DOI:
10.3969/j.issn.1006-7043. 201205069
文献标志码:
A
摘要:
针对自主式水下机器人难以建立精确动力学数学模型的问题,提出了一种基于模糊定性仿真理论的运动建模方法.根据状态转换中系统变量的变化方向,给出了模糊定性状态转换类型的细化分类方法.对于系统变量定量信息定性化过程中的采样时间确定问题,研究了基于系统变量模糊定性状态的自适应采样时间选取方法.文中建立了“海狸”号实验样机的模糊定性模型.水池实验表明,所提方法能够准确描述水下机器人在不同运动状态下的模糊定性行为.

参考文献/References:

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[3]刘丙杰, 胡昌华. 模糊定性仿真的相似原理及其改进[J]. 系统仿真学报, 2006, 18(4): 856-859. LIU Bingjie, HU Changhua. Approximation principle of fuzzy qualitative simulation and its application[J]. Journal of System Simulation, 2006, 18(4): 856-859.
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[5]QIANG S, ROY L. Fuzzy qualitative simulation[J]. IEEE Transactions on Systems, Man, and Cybernetics, 1993, 23(4): 1038-1061.
[6]严浙平,迟冬南,赵智,等. UUV推进系统模糊自适应融合故障诊断方法[J]. 电机与控制学报,2012, 16(9):14-16. YAN Zheping, CHI Dongnan, ZHAO Zhi, et al. Propeller fault diagnosis for UUV using fuzzy adaptive fusion[J]. Electric Machines and Control, 2012,16(9):14-20.
[7]LI Ke, LAN Wai, WANG Jun. DMA and multithread program control technology computer sample system of vibration signal[J]. Energy Procedia, 2011, 13(1): 6662-6669.
[8]徐建安, 王玉甲, 张铭钧. 自主式水下机器人试验平台研制与实验研究[J]. 哈尔滨工程大学学报, 2007, 28(2): 212-217. XU Jianan, WANG Yujia, ZHANG Mingjun. Development and experiment of an autonomous underwater vehicle test-bed[J]. Journal of Harbin Engineering University, 2007, 28(2): 212-217.

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备注/Memo

备注/Memo:
高等学校博士学科点专项基金资助项目(20112304110024);国防基础科研计划基金资助项目(B2420110008)
更新日期/Last Update: 2013-04-02