深潜救生艇是一类无缆自航式援潜救生装备。针对深潜救生艇航行控制需求，对航行控制系统进行研究，构建系统体系结构，建立深潜救生艇运动数学建模，开展软硬件设计，并进行仿真和试验验证。半物理仿真和海上试验结果，验证了航行控制系统性能稳定可靠，自动控制精度较高，完全满足航行控制需求。
Deep submergence rescue vehicle (DSRV) is a kind of self-propelled rescue equipment without cables. Aiming at the navigation control demand of DSRV, the navigation control system is studied, the system architecture is constructed, the mathematical model of DSRV motion is established, the hardware and software are designed, and the simulation and test are carried out. The results of semi-physical simulation and sea test prove that the navigation control system is stable and reliable, the automatic control precision is high, and the navigation control demand is satisfied.
2022,44(9): 57-62 收稿日期：2021-08-03
DOI：10.3404/j.issn.1672-7649.2022.09.012
分类号：TP273；U674.941
基金项目：国家重点研发计划(2016YFC0300600，2018YFC0309300)；中国科协青年人才托举工程(2019QNRC001)
作者简介：张伟(1988-)，男，高级工程师，研究方向为深海装备控制技术
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