diving plane meaning in Chinese

(潜艇的)浮沉控制舵。

In this dissertation , through computer simulation , the problems of modeling , control and guidance of auvs are presented . the first part of this dissertation addresses the problem of dynamically modeling of auvs , and derives thrusters " two - dimension nonlinear dynamic model , which has axial flow speed and propeller rotational velocity as two state variables , voltage or current of motor as inputs , and thruster force and torque as output . the second part focuses on the nonlinear adaptive sliding mode control of auvs in diving plane and steering plane
本论文系统研究了自主式水下航行器的建模、非线性自适应滑模控制、以及深度调整和水平面导引方法等问题，具体成果和创新点如下1 、根据流体力学理论，建立了螺旋桨推进器的动态模型，它以螺旋桨来流速度v _ p和螺旋桨转速n为状态变量，以电机施加转矩为输入，螺旋桨推力t和转矩q为输出。