| 深潜救生艇位姿控制系统研究 |
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| 引用本文： | 何 斌,万 磊,孙玉山,李吉庆,姜春萌.深潜救生艇位姿控制系统研究[J].船舶工程,2011,33(Z2):76-84. |
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| 作者姓名： | 何 斌 万 磊 孙玉山 李吉庆 姜春萌 |
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| 作者单位： | 哈尔滨工程大学船舶工程学院;武汉科技大学城市学院人文学部; |
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| 基金项目： | 中国博士后科学基金资助项目(20100480964); 国家“863”计划资助项目(2008AA092301-2); 国家973基金资助项目(61311101) |
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| 摘 要： | 从硬件和软件两方面详细论述了深潜救生艇试验载体的位姿控制系统体系结构.针对深潜救生艇在对接过程中对倾角能力的特殊要求,引入压载水舱和泵阀系统进行纵横倾调节,通过控制泵、阀的开关时间控制试验载体纵横倾的大小,使试验载体的纵横倾能力分别达到了30°和15°.为了解决试验载体在大倾角定位过程中的推力分配问题,将控制器解算得到的力(矩)转移到随体坐标系下进行分析,简化了推力分配的复杂程度.最后通过水池试验验证了整个位姿控制系统的可行性和可靠性,并对系统有待完善的地方给出了一些改进建议.
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| 关 键 词： | 深潜救生艇 位姿控制 推力分配 纵横倾控制 水舱控制 |
| 收稿时间： | 2011/4/28 0:00:00 |
| 修稿时间： | 6/23/2011 9:05:40 PM |
Research on Position and Attitude Control System of Deep Submergence Rescue Vehicle |
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| HE Bin,WAN Lei,SUN Yushan,LI Jiqing and JIANG Chunmeng.Research on Position and Attitude Control System of Deep Submergence Rescue Vehicle[J].Ship Engineering,2011,33(Z2):76-84. |
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| Authors: | HE Bin WAN Lei SUN Yushan LI Jiqing and JIANG Chunmeng |
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| Institution: | Deep Submergence Rescue Vehicle HE Bin1,WAN Lei1,SUN Yus-han1,LI Ji-qing1,JIANG Chun-meng2(1.College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China,2.Humanities Department,City College of Wuhan University of Science and Technology,Wuhan 430083,China) |
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| Abstract: | The position and attitude control system of the DSRV experiment platform is presented from the viewpoint of hardware and software.For trimming and heeling capacity of the platform has special requirements during the mating operation,two trim tanks and four heel tanks are fixed on the platform to implement pitch and roll control.By controlling the switching time of the pump and valves,trimming and heeling angle are adjusted automatically,and the maximum value of them reaches to 30 degree and 15 degree respec... |
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| Keywords: | DSRV position and attitude control thrust allocation pitch and roll control water chamber control |
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