主管单位:中国船舶重工集团公司
主办单位:中国舰船研究院、中国船舶信息中心
地址:北京市朝阳区科荟路55号院
邮编:100101
电话:010-83027274
传真:
E-Mail:
刊号:ISSN ISSN:1672-7649
        CN CN:11-1885/U
国内发行代号:
国际发行代号:
发行范围:国内外公开发布
定价:50元/册
定价:600元/年

您所在位置:首页->过刊浏览->2016年38卷4期



深海潜标多螺旋桨推力姿态控制仿真
Attitude control simulation of deep-Sea submerged buoy using four thrusters
朱海, 葛德宏, 陈建华, 蔡鹏
点击:1161次 下载:4次
DOI:
作者单位:1. 海军潜艇学院, 山东青岛 266042;
2. 中国人民解放军92267部队, 山东青岛 266102
中文关键字:潜标姿态控制;多螺旋桨;输入输出线性化;仿真
英文关键字:submerged buoy's attitude control; four thrusters; input-output linearization; simulation
中文摘要:海洋潜标上搭载的环境监测设备和仪器对潜标姿态提出了不同的要求,针对潜标在水平流的作用下产生纵倾和横倾时的姿态主动控制问题,化简潜标空间运动的非线性数学模型为2个垂直面运动模型,基于该解耦模型,采用多螺旋桨推力为控制量,提出了一种基于输入输出线性化的状态反馈姿态控制律,并编制Matlab程序进行仿真。结果表明,该控制律能够将处于不同海流流向下的深海潜标的姿态控制到参考姿态。
英文摘要:The sea facility and instrument ask the deep-sea submerged buoy for the ability of adjust its attitude. The paper deals with the attitude control issue of the deep-sea submerged buoy under the sea current. Firstly, the six degree of freedom motion equation of the submerged buoy is predigested to two vertical section models. Secondly, based on the inputoutput linearization technique, a state feedback control law is presented for submerged buoy's attitude control system. The controller is implemented by four thrusters. Finally, numerical simulations are presented to validate the proposed controller. It is shown that the proposed controller exhibits relatively high effectiveness.
2016,38(4): 5-11 收稿日期:2015-09-06
DOI:10.3404/j.issn.1672-7619.2016.04.002
分类号:U661.33;TP273
作者简介:朱海(1965-),男,博士,教授,主要从事海洋光学与水下导航技术研究。
参考文献:
[1] CHEN X H. Studies on dynamic interaction between deep-water floating structures and their mooring/tendon systems[D]. Houston:Texas A & M University, 2002.
[2] FANG M C, HOU C S, LUO H J. On the motions of the underwater remotely operated vehicle with the umbilical cable effect[J]. Ocean Engineering, 2007, 34(8/9):1275-1289.
[3] FENG Z, ALLEN R. Evaluation of the effects of the communication cable on the dynamics of an underwater flight vehicle[J]. Ocean Engineering, 2004, 31(8/9):1019-1035.
[4] HUANG S. Stability analysis of the heave motion of marine cable-body systems[J]. Ocean Engineering, 1999, 26(6):531-546.
[5] 葛德宏, 朱海, 陈建华, 等. 深海潜标系统运动仿真研究[J]. 大连海事大学学报, 2014, 40(1):25-28, 32. GE De-hong, ZHU Hai, CHEN Jian-hua, et al. Motion simulation study of deep-sea submerged buoy system[J]. Journal of Dalian maritime University, 2014, 40(1):25-28, 32.
[6] 葛德宏, 朱海, 陈建华, 等. 基于输入输出线性化的深海潜标姿态控制[J]. 海军工程大学, 2014, 26(5):92-96. GE De-hong, ZHU Hai, CHEN Jian-hua, et al. Attitude control of deep-sea submerged buoy based on input-output linearization[J]. Journal of Naval University of Engineering, 2014, 26(5):92-96.
[7] 葛德宏, 朱海, 蔡鹏, 等. 基于反馈线性化的深海潜标姿态滑模控制[J]. 火力与指挥控制, 2016, 41(1):16-18. GE De-hong, ZHU Hai, CAI Peng, et al. Attitude sliding mode control of deep-sea submerged buoy based on feedback linearization[J]. Fire Control & Command Control, 2016, 41(1):16-18.
[8] GERTLER M, HAGEN G L. Standard equations of motion for submarine simulation[R]. Technical Report DTMB 2510. Washington, DC:David Taylor Research Center, 1967.
[9] 郁苗. 带缆遥控水下机器人的模糊滑模控制研究[D]. 广州:华南理工大学, 2010. YU Miao. Research on fuzzy sliding mode control of a remotely operated underwater vehicle[D]. Guangzhou:South China University of Technology, 2010.
[10] 周岗, 姚琼荟, 陈永冰, 等. 基于输入输出线性化的船舶全局直线航迹控制[J]. 控制理论与应用, 2007, 24(1):117-121. ZHOU Gang, YAO Qiong-hui, CHEN Yong-bing, et al. Global straight-line tracking control of ships based on input-output linearization[J]. Control Theory & Applications, 2007, 24(1):117-121.
读者评论

      读者ID: 密码:   
我要评论:
国内统一连续出版物号:CN:11-1885/U |国内发行代码: |国际标准出版物号:ISSN:1672-7649 |国际发行代码:
主管单位:中国船舶重工集团公司  主办单位:中国舰船研究院、中国船舶信息中心
版权所有©2020舰船科学技术》编辑部 京ICP备11013578号
本系统由北京菲斯特诺科技有限公司设计开发 技术支持
您是本站第1553647名访问者