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To achieve attitude stability and depth control of a underwater vehicle, the dynamic characteristics and the influence of the tail rudders and sliding force on its dynamic characteristics are analyzed. The system is divided into three loops, and the controllers are designed for them. According to the damping characteristics of the system, pole placement is performed on the diagonal rate loop, followed by hysteresis correction on the overload loop based on the frequency domain characteristics of the system. Finally, the time domain characteristics of the depth loop are improved by adjusting the gain. Through simulation experiments, it has been verified that the control law designed can achieve attitude stability and depth control of a underwater vehicle, and has certain anti-interference ability. The linear control methods used in the article are common in engineering practice, and the calculation of controller parameters is based on the system's time-domain and frequency-domain performance indicators. The physical meaning is clear, and it has certain reference significance for engineering practice related to underwater vehicle attitude control.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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