一种新型水下平台的水平面运动控制

新型水下平台用于从水面布放设备至海底,或从海底回收至水面指定位置,其主要运动形式为垂向无动力下潜或上浮。为了克服垂向运动过程中来自水平方向洋流的扰动,需要对平台的水平位置和首向进行控制。针对平台水动力系数等模型参数难以计算,水平洋流未知、且水平推进系统布置特殊的特点,设计了不依赖于模型参数且具有全局稳定性的水平面运动控制系统,并应用Lagrange方法对推力分配进行了优化从而减小运动控制的总功耗。最后通过仿真对控制算法进行了验证。

Horizontal motion control of a new type underwater platform

A new type underwater platform is used to deploy equipment from the water surface to the seabed,or recover equipment to the specified location on the water surface.The main form of motion is heave.In order to overcome the disturbance from the horizontal current during the heave motion,it is necessary to control the horizontal position and the heading of the platform.Regarding the difficulty in acquiring accurate model parameters such as platform hydrodynamic coefficient,unknown horizontal ocean current,and the specially configured horizontal propulsion system,this paper designs a horizontal motion control system with global stability that is independent of the model parameters,and Lagrange method is used to optimize the thrust distribution to reduce power consumption.Finally,the simulation verifies the effectiveness of the control algorithm.