浅海海底管线检测与维修中的对线控位方法研究

浅海海底管线电缆的检测和维修需要维修装置在非线性的海洋条件下，在管线上方进行对线控位。以便装置能够坐沉海底，通过将维修舱打入海底泥沙并骑在管线上对管线进行维修。这要求对线控位时维修装置的纵向中心线偏离待维修管线中心的距离不大于0．3米。本文采用模糊滑模变结构进行装置的对线控位控制，有效地克服了常规变结构控制器中颤振的影响，提高了对线控位的控制精度。文章最后给出了该控制器的实际仿真控制结果。

Study of Method for Heading and Positioning Control in Inspection and Maintenance of Submarine Pipeline in Shallow Sea

In inspection and maintenance of submarine pipeline in the shallow sea,it is necessary to make heading and positioning of inspection and maintenance equipment above the underwater pipeline,so that,the equipment can be lowered down to the sea bed and the repair cabin driven into the earth and ridden on the pipeline to work on it.It is required that the deviation of the repair equipment's central line from the central line of the pipeline to be repaired is not more than 0.3m.In this paper,a fuzzy VSS controller is discussed and used to control heading and positioning.The controller can eliminate chattering that is often encountered in a conventional controller and improve heading and positioning precision.Finally,simulation results of the controller are given.