| 无人水下潜器定位控制过程的DES建模与简化 |
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| 引用本文： | 戴学丰,边信黔,严浙平.无人水下潜器定位控制过程的DES建模与简化[J].中国造船,2001,42(3):39-42. |
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| 作者姓名： | 戴学丰 边信黔 严浙平 |
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| 作者单位： | 哈尔滨工程大学 |
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| 摘 要： | 本文以安装有4只机械手的6自由度无人水下潜器的定位过程为背景，研究了基于离散事件系统监控理论的定位过程监控问题，首先对该监控理论中可控事件和不可控事件赋予了新的含义，然后建立了定位过程的自动机模型，并通过对潜器结构的分析，利用等价类概念对自动机模型进行了简化，同时讨论了监控问题。
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| 关 键 词： | 无人水下潜器 离散事件系统 监督控制 动力定位 DES 建模 简化 |
| 文章编号： | 2001A03-07 |
| 修稿时间： | 2000年7月4日 |
On DES Modeling and Simplification for Positioning Process
of Unmanned Underwater Vehicles |
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| DAI Xuefeng,BIAN Xinqian,YAN Zheping.On DES Modeling and Simplification for Positioning Process
of Unmanned Underwater Vehicles[J].Shipbuilding of China,2001,42(3):39-42. |
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| Authors: | DAI Xuefeng BIAN Xinqian YAN Zheping |
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| Institution: | Harbin Engineering University |
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| Abstract: | A six degree of freedom model for the positioning process of an unmanned under water vehicle, which comprises 4 manipul ators mounted on the underside midsectio n, is used and a supervisory control sch eme is designed based on discrete event systems (DES) theory. At First, the cont rollable and uncontrollable events are i nterpreted in a new semantics, then, the automata model of positioning process i s established, By analyzing the structur e characteristics of the UUV, the automa ta model is simplified using the concept of equivalence classes. Meanwhile, supe rvisory control problem is discussed. |
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| Keywords: | Unmanned under water vehicle discrete event system Supervisory contr ol Dynamic positioning |
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