| 水下智能潜器分布式控制系统设计与实现 |
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| 引用本文： | 张汝波.水下智能潜器分布式控制系统设计与实现[J].中国造船,1998(3):66-75. |
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| 作者姓名： | 张汝波 |
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| 作者单位： | 哈尔滨工程大学 |
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| 摘 要： | 分布式控制系统是水下管能潜器的重要部分．本文采用分层控制结构，即执行级、协调级和组织级，实现了潜器的控制系统。文中首先介绍了控制系统的组成，然后分别介绍了执行级采用神经网络实现自适应控制的方法，协调级中实现全局和局部路径规划的方法，以及组织级中基于行为分解的任务规划方法。文中给出了系统的仿真和实验结果。
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| 关 键 词： | 智能潜器 分布式控制 智能控制 |
DESIGN AND REALIZATION OF DISTRIBUTED CONTROL SYSTEM OF AUTONOMOUS UNDERWATER VEHICLE |
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| ZHANG Rubo, PENG Liang ,GU Guochang ,ZHANG Guoyin.DESIGN AND REALIZATION OF DISTRIBUTED CONTROL SYSTEM OF AUTONOMOUS UNDERWATER VEHICLE[J].Shipbuilding of China,1998(3):66-75. |
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| Authors: | ZHANG Rubo PENG Liang GU Guochang ZHANG Guoyin |
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| Institution: | Harbin Engineering University |
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| Abstract: | The dlstributed control system is an important part of AUV(Autonomous Underwa-ter Vehicle). The hierarchical control architecture, that is, execution level, coordinationlevel and organization level, is a(4()pted to realize the control system of AUV. First, theconstitution of the control system is presented in this paper, and then the method aboutadaptive control adopting neural network in execution level, the method about global andlocal path plan in coordination level as well as the method about task plan based on beha-vior decomposition in organization level, are introduced respectively. The experiment andsimulation results are also given in the paper. |
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| Keywords: | AUV Distributed control system Intelligent control |
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