| Study of station and attitude maneuver of submergence rescue vehicle |
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| 作者姓名： | ZHENG Ke-wei BIAN Xin-qian SHI Xiao-cheng |
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| 作者单位： | ZHENG Ke-wei，BIAN Xin-qian，and SHI Xiao-cheng College of Automation，Harbin Engineering University，Harbin 150001，China |
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| 基金项目： | Supported by the National Defence Science and Industry Committee Foundation under Grant No.40104050101. |
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| 摘 要： | It is an important control process to operate motion of an submergence rescue vehicle(SRV). Seeing that the motion of the submergence rescue vehicle is special, it is necessary to employ non-linear predictive control system. For this reason, continuous dynamic performance of the system, the logical components and the operative restraints are expressed as the non-linear equations of state with the inequality restraints, and the model principle of hybrid system is introduced. The conclusion shows that it comes true to exactly control position and attitude of the SRV by means of non-linear model predictive control. The test in a model basin has also proved that the above methods are efficient.
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| 关 键 词： | 深潜救援器 测站 姿态控制 凸轮 锁紧尾栓 弹药筒退壳器 |
| 文章编号： | 1671-9433（2007）01-0015-06 |
| 收稿时间： | 2006-07-03 |
Study of station and attitude maneuver of submergence rescue vehicle |
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| ZHENG Ke-wei BIAN Xin-qian SHI Xiao-cheng.Study of station and attitude maneuver of submergence rescue vehicle[J].Journal of Marine Science and Application,2007,6(1):15-20. |
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| Authors: | Zheng Ke-wei Bian Xin-qian Shi Xiao-cheng |
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| Institution: | (1) College of Automation, Harbin Engineering University, Harbin, 150001, China |
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| Abstract: | It is an important control process to operate motion of an submergence rescue vehicle(SRV). Seeing that the motion of the submergence rescue vehicle is special, it is necessary to employ non-linear predictive control system. For this reason, continuous dynamic performance of the system, the logical components and the operative restraints are expressed as the non-linear equations of state with the inequality restraints, and the model principle of hybrid system is introduced. The conclusion shows that it comes true to exactly control position and attitude of the SRV by means of non-linear model predictive control. The test in a model basin has also proved that the above methods are efficient. |
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| Keywords: | naval gun lock-breechblock cam artillery cartridge extractor |
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