共查询到20条相似文献，搜索用时 160 毫秒
1.
2.
深潜救援潜器新型对接技术的仿真研究 总被引：7，自引：0，他引：7
对接技术是利用深潜救援潜器(DSRV)实现援潜救生的关键技术。本文介绍了作者开发的对接系统三维动画仿真软件和利用仿真软件对新型对接系统实施援潜救生进行动态仿真的情况。 相似文献
3.
李智生 《数字海洋与水下攻防》2022,5(2):99-102
基于潜器水下状态的平衡方程,建立了潜器运动模型.通过对水锤压力的数值仿真计算,建立了潜器航行体发射时的运动控制模型.根据这一数学模型,计算分析了潜器在完整火箭发射后效(发射冲击与完整的水锤效应)作用下的运动响应和运动控制.结果表明:发射单枚航行体对潜器运动姿态有较长时间的影响,潜器的初始速度越大,影响程度越小,影响时间... 相似文献
4.
5.
6.
7.
8.
脐带缆在潜器下放过程中的运动建模与仿真 总被引：1，自引：0，他引：1
潜器在下放布置过程中需要考虑变长度的脐带缆对其运动的影响,在考虑流的情况下,对脐带缆的有限差分模型进行了改进,并采用最小二乘方法求解由时间和空间上的中心差分格式离散后的非线性方程组。为了验证模型改进的有效性,将潜器在均匀定常流中水平匀速直航时的数值解与该特殊情况下的解析解进行比较,两组解的吻合不仅证实了模型改进的有效性,而且表明上述数值计算方法是可靠且有效的。在潜器下放布置运动给定的情况下,脐带缆的运动仿真结果表明,潜器姿态角的调整会对拖曳点处的缆绳张力大小和变化趋势产生显著的影响,流在改变缆绳空间形状的同时引起了缆绳对潜器作用力和力矩的非线性和时变性,脐带缆总是阻止潜器自身动力对运动速度和姿态角的改变,且对纵荡运动的影响最大。 相似文献
9.
结合固定翼飞机与潜器设计原理设计了一种密度大于水的潜器——重水潜器,它利用机翼升力平衡剩余重量,外形就像固定翼飞机.由理论分析可知在有效载荷和航行速度相同的情况下重水潜器较常规潜器的体积有明显减小,而以中高速航行时重水潜器阻力优势明显.根据固定翼飞机与潜器设计原理相结合的设计方法制作的重水潜器样机进行水池试航时顺利完成直航、水平回转、爬升、下潜等规定动作,并表现出良好的稳定性和操纵性,从而证明了该设计方法的可实现性. 相似文献
10.
西德ZF-Herion系统技术股份有限公司和挪威的潜水设备公司合作,于1979年7月开始共同研制一种名为“DAVID”的新型潜器,其第一台样机定于1982年潜水旺季投入试验。这种新型潜器由以下四个部分组成:动力供应系统;控制装置,操作系统;水下工作潜器。动力供应系统装在一个直径为10英尺,顶部水密的容器中,用一个225KVA的柴油发电机(440N/60H_2)供电。控制装置安装在一个空气调节的直径10英尺的容器里。它包括从海面操纵潜器所需要的全部指示和记录仪表,如用于控制运动方向的操纵杆、机械夹紧器、开关装置、电视控制装置、水下声纳,跟踪系统,报警装置,自动误差显示器,视频描绘仪和通话装置等。 相似文献
11.
12.
13.
Many underwater intervention tasks are today performed using manned submersibles or remotely operated vehicles in teleoperation mode. Autonomous underwater vehicles are mostly employed in survey applications. In fact, the low bandwidth and significant time delay inherent in acoustic subsea communications represent a considerable obstacle to remotely operate a manipulation system, making it impossible for remote controllers to react to problems in a timely manner.Nevertheless, vehicles with no physical link and with no human occupants permit intervention in dangerous areas, such as in deep ocean, under ice, in missions to retrieve hazardous objects, or in classified areas. The key element in underwater intervention performed with autonomous vehicles is autonomous manipulation. This is a challenging technology milestone, which refers to the capability of a robot system that performs intervention tasks requiring physical contacts with unstructured environments without continuous human supervision.Today, only few AUVs are equipped with manipulators. SAUVIM (Semi Autonomous Underwater Vehicle for Intervention Mission, University of Hawaii) is one of the first underwater vehicle capable of autonomous manipulation.This paper presents the solutions chosen within the development of the system in order to address the problems intrinsic to autonomous underwater manipulation. In the proposed approach, the most noticeable aspect is the increase in the level of information transferred between the system and the human supervisor.We describe one of the first trials of autonomous intervention performed by SAUVIM in the oceanic environment. To the best knowledge of the authors, no sea trials in underwater autonomous manipulation have been presented in the literature. The presented operation is an underwater recovery mission, which consists in a sequence of autonomous tasks finalized to search for the target and to securely hook a cable to it in order to bring the target to the surface. 相似文献
14.
15.
讨论了水下机器人远程通信光纤微缆的动力学问题,研究分析了在海洋层流条件下水下机器人的运动对光纤微缆张力的影响,在仿真分析的基础上提出了对光纤微缆收放系统的设计要求并给出了概念设计方案。 相似文献
16.
水下机器人运动的S面控制方法 总被引：32，自引：4，他引：32
由于水下机器人的强非线性以及系统存在不确定性，同时考虑到港湾环境下水声的噪声大，因此，水下机器人进行精确作业时的运动控制一直是其实用化过程中困扰人们的问题，通常水下机器人的控制方式有PID控制器，神经网络控制器和模糊逻辑控制器三种，但是，由于这三种方法在实际应用中都存在一些参数难以确定的缺陷，为了解决这一问题，本文从模糊逻辑控制方式出发，借鉴PID控制的结构形式，推导出一种全新而简单有效的控制方法，定义为S面控制法，从水下机器人的水池试验和海上实验来看，不论是定点的控制精度还是运动过程中的控制效果都较令人满意，尤其是在风浪，潮流都比较大的海上实验中得到验证，鲁帮性很好。 相似文献
17.
18.
Intelligent behaviour-based team UUVs cooperation and navigation in a water flow environment 总被引：1，自引：0，他引：1
This paper considers the problem of intelligent behaviour-based team unmanned underwater vehicles (UUVs) cooperation and navigation, especially in a water flow environment. Animals often have behaviour which aims to maintain them living as groups. We learn from animals’ typical group behaviour and develop behaviour-based rules for team cooperation of UUVs. We create simulation scenarios in which a team of vehicles cooperate to track a target in a water current environment. This paper customises several behaviour-based rules to satisfy the requirement of the desired scenarios. We use fuzzy logic controllers to set different priority weights for each rule on-line according to the situation that the vehicles meet. The decision of the vehicle's next step steering direction is made by the combination of these rules multiplied by the relative priority weights. The line-of-sight guidance law is modified as the navigation rule in a water flow environment. The dynamic manoeuvring model of a real small UUV, SUBZERO III, is used in the simulation. The simulation results indicate that the entire system is successful in reaching the target without any collision within the scenario. The different trajectories and travel times are compared and discussed when normal and modified line-of-sight guidance rules are applied. 相似文献
19.
Autonomous oceanographic sampling networks (AOSNs) are groups of autonomous underwater vehicles and other instrument platforms. They were envisioned to address the serious undersampling problem that exists for the ocean. Advanced AOSNs will include numerous heterogeneous components and perform complex, long-duration missions. They will have to cope with vehicles failing, new vehicles arriving, and changes in the mission and environment. Controlling such a system is a very challenging task. The Cooperative Distributed AOSN control (CoDA) project focuses on developing intelligent control mechanisms for advanced AOSNs. CoDA treats AOSN components as agents that follow protocols to create an effective organization to carry out the mission. CoDA is a two-level approach. A meta-level organization (MLO) first self-organizes from a subset of the agents to discover the AOSNs' total capability repertoire, then designs a task-level organization (TLO) to efficiently carry out the mission. When changes occur, the MLO can step in to reorganize the AOSN to fit the changed situation. This two-level approach allows the AOSN to be both efficient and flexible in the face of change. In addition to describing CoDA, this paper also presents simulation results to show its behavior, both normally and when agents fail 相似文献
20.
水声通信和测距能力是实现水下航行器准确定位的重要技术手段。当前基于水声定位的方法主要有利用测距和测向功能的水声定位技术以及水声测距辅助导航技术，二者的系统物理复杂度都比较高。本文提出了一种基于单水声信标距离量测的匹配定位方法，航行器在水声信标测距覆盖范围内，利用航行过程中多次测距信息构建测距圆序列形成位置约束，基于航位推算导航信息，将航行器在连续测距时间段内的相对航迹在圆序列上进行最优匹配，从而获得位置估计，通过对测距误差进行补偿可进一步提升定位精度。本方法所需物理系统结构复杂度低、可操作性强，仿真实验表明，该方法可以独立实现较高精度的定位。 相似文献