简介:Toprovideasimulationsystemplatformfordesigninganddebuggingasmallautonomousunderwatervehicle’s(AUV)motioncontroller,asix-degreeoffreedom(6-DOF)dynamicmodelforAUVcontrolledbythrusterandfinswithappendagesisexamined.Basedonthedynamicmodel,asimulationsystemfortheAUV’smotionisestablished.ThedifferentkindsoftypicalmotionsaresimulatedtoanalyzethemotionperformanceandthemaneuverabilityoftheAUV.InordertoevaluatetheinfluencesofappendagesonthemotionperformanceoftheAUV,simulationsoftheAUVwithandwithoutappendagesareperformedandcompared.TheresultsdemonstratetheAUVhasgoodmaneuverabilitywithandwithoutappendages.
简介:摘要绿色开采是煤炭开采的发展方向,对提高煤炭采出率、保护生态环境和实现煤矿可持续发展都具有十分重要的意义。本文阐述了绿色开采技术,总结了煤矿绿色开采方法的发展现状,对科学采矿具有一定的指导意义。