【摘要】 浅海海底管线检测维修潜水器是具有复杂动力特性和作业方式的特种载人潜水器,其作业需配备姿态及航行自动控制系统。为了保证其自动控制系统研制成功,研制了1∶8缩尺的自航模作为平台,将实际控制系统方案遵循相似性准则改造为自航模控制系统,包括校正与补偿回路、指令分配器、姿态控制回路、航行控制回路。在海洋工程水池模拟风浪流等海洋环境,进行各种情况下的控制试验,对实现的控制律加以验证和改进,这些改进又按照相似性准则反映到实际控制系统方案的修正中。控制系统的设计方案由此得到全面验证和改善。更多还原

【Abstract】 The pipeline detection and maintenance underwater vehicle is a special manned vehicle, which features complicated dynamics and behavior, and needs an automatic control system for attitude keeping and position control. To insure the success of the control system, a 1∶8 self-propelled model was built, together with a model control system developed from the control scheme of the real vehicle. The model control system consists of four kinds of units, which are the correction and compensation loops, the demand distribution units, the attitude controller and the navigation controller. The control system was tested in the Ocean Engineering Laboratory with different ocean conditions of wind, flow and wave. According to the results, the model control system is improved, and the control scheme of the real vehicle is revised accordingly. Thus the vehicle control scheme is verified and improved.更多还原