一种用于商业ROV检测墨西哥河流上桥梁破坏的适应性:动态和运动学建模简化和控制

2017 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) Pub Date : 2017-11-01 DOI:10.1109/ROPEC.2017.8261665

Rubén Eulogío González Vargas, E. E. R. Vázquez, Carlos Alexander Núñez Martín, J. Fuentes, Rodrigo Hernández Alvarado, Hugo Gámez Cuatzín

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引用次数: 1

摘要

本文介绍了远程操作车辆(ROV)系统的动态和运动学模型的开发，其目的是检查墨西哥河流上的桥梁破坏。采用一种状态反馈控制算法对ROV的位置和轨迹进行调节。考虑了系统的所有动态线性特性，进行了性能预测的数值结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An adaptation for a commercial ROV to inspect the bridges undermining on the Mexican rivers: Dynamic and kinematic modelling simplification and control

Current article presents the development of a dynamic and kinematic model for a Remote Operated Vehicle (ROV) system, which objective is the inspection of the bridges undermining at the Mexican rivers. The ROV position and trajectory regulation is made by means of a control algorithm which has all its states feedbacking. The numerical results of the performance predictions are performed considering all the dynamic linear characteristics of the system.

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2017 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

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