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�������պ����ѧѧ�� 2010, Vol. 36 Issue (9) :1108-1112    DOI:
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Dynamics and simulation of autonomous underwater vehicle based on control moment gyros
Lian Lun, Wu Zhong*
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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ժҪ Ϊ�ֲ�ˮ��������(AUV,Autonomous Underwater Vehicle)�д�ͳ������ƻ����ĵ��ٿ��ƵIJ���,�������������,���뵥��ܿ�����������(SGCMG,Single Gimbal Control Moment Gyro)��Ϊ���ƻ���������̬�ȶ������.��AUV��Ϊ����,����SGCMG,����ˮ�»������ص�,��������SGCMG��AUV����ѧģ��,���������AUV�Ķ���ѧ����̬�˶���SGCMG�Ŀ���˶��Լ�����֮����໥����.������˵��:����SGCMG���Ƶ�AUV����̬�������١�׼ȷ,������������,Ϊ��������Ƽ���̬�����㷨�о��ṩ����.
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Abstract�� To improve autonomous underwater vehicle(AUV)-s low velocity control performance, a control moment gyro (CMG) was introduced as the attitude control system. Taking the fluid dynamics into account, the dynamic model of AUV was built based on CMG, and a simulation and analysis on AUV-s kinematics and attitude control also was made. The results show that AUV based on CMG has high efficient maneuverability and ideal low velocity control performance. Accordingly, AUV-s kinematics and attitude control can be realized. But the SGCMG steering law used doesn-t consider the singularity avoidance. Designing high performance steering law is the farther problem. It provides foundation for the design of steering law and attitude control.
Keywords�� autonomous underwater vehicle   control moment gyro   dynamics   simulation     
Received 2009-07-06;

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About author: �� ��(1984-),��,����������,˶ʿ��,lianlun25@yahoo.com.cn.
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Lian Lun, Wu Zhong.Dynamics and simulation of autonomous underwater vehicle based on control moment gyros[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(9): 1108-1112
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