首先结合变推力发动机的特点设计了数字控制器的硬件电路。
Firstly, according to the traits of the variable thrust engine, the hardware of the control system is designed.
文中先给出在正常情况下水下机器人的解耦控制器及推力分配，然后给出了在推力器出现故障时的容错控制策略。
A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given.
针对推力波动对于直线电机的速度控制精度和平稳性影响较大的问题，设计了速度环滑模控制器。
Since the thrust ripple has great influence on the precision and steadiness of the velocity control, the sliding-mode control device of speed loop was designed.
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