Open Access
表4
水下机器人动力学参数
| 参数 | 含义 | 数值 | 参数 | 含义 | 数值 | |
| m/kg | 潜器质量 | 11.50 | IX/(kg·m2) | X轴转动惯量 | 0.16 | |
| g/(m·s-2) | 重力加速度 | 9.81 | IY/(kg·m2) | Y轴转动惯量 | 0.16 | |
| K/(m·s-2) | 推力系数 | 40 | IZ/(kg·m2) | Z轴转动惯量 | 0.16 | |
| zg/m | Z轴重心坐标 | 0.02 | W/N | 潜器水下浮力 | 114.80 |
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