四旋翼水下航行器运动控制及可视化仿真

摘要

This paper builds a motion modeling of a miniature autonomous underwater vehicle which is manufactured by laboratory.After the analysis of hydrodynamic,static,and thrust,based on the software platform MATLAB,combining with M func-tion and Simulink,completed the motion simulation.Further,with the aid of VR module,this paper realizes the visual output.%以实验室自主研发的微型自主四旋翼水下航行器为对象,对其进行运动建模.综合水动力、静力、推力分析其运动模型,借助MATLAB平台,结合M函数与Simulink进行运动仿真,并借助VR模块,将运动结果进行可视化输出,直观地研究水下机器人的运动规律.