| 海底管线检修潜水器垂直面控制及自航模试验 |
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| 引用本文： | 田海涛,葛彤.海底管线检修潜水器垂直面控制及自航模试验[J].海洋工程,2004,22(4):80-85. |
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| 作者姓名： | 田海涛 葛彤 |
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| 作者单位： | 上海交通大学,船舶海洋与建筑工程学院,上海,200030;上海交通大学,船舶海洋与建筑工程学院,上海,200030 |
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| 基金项目： | 国家海洋863计划资助项目(820-11-01) |
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| 摘 要： | 论述了纵倾控制律设计及自航模试验。首先选择一系列深度，对同一深度采用频域校正法单独设计控制律，使之对不同的速度和漂角具有足够的稳态精度和抗干扰性，这些控制律被集成统一为纵倾控制器，并根据潜深变化进行切换，对于其它深度采用同样的方法设计。控制器首先通过计算机仿真，然后进行自航模试验验证。设计的纵倾控制系统同时在其他试验项目中(水下管线跟踪和动力定位)发挥了重要的作用。
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| 关 键 词： | 自航模试验 控制律设计 潜水器 |
| 文章编号： | 1005-9865(2004)04-0080-06 |
| 修稿时间： | 2003年9月25日 |
Vertical pitch control and self-propelled model test of the underwater vehicle for pipeline detection and maintenance |
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| TIAN Hai-tao,GE Tong.Vertical pitch control and self-propelled model test of the underwater vehicle for pipeline detection and maintenance[J].Ocean Engineering,2004,22(4):80-85. |
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| Authors: | TIAN Hai-tao GE Tong |
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| Abstract: | The paper focuses on the design and self-propelled model test of the pitch controller of a manned underwater vehicle which has been designed for pipeline detection and maintenance in shallow water of less than 20 meters deep. Firstly, a set of special depths was selected. For each depth, a single control law was designed by means of frequency-domain correction, which can achieve satisfactory stability and disturbance rejection for different velocities and drift angles. Then, they were intergraded into the pitch controller and scheduled real-time depth according to depth variation. The controller was verified by digital simulation and then by self-propelled model tests. Both results show its effectiveness. The controller also played an important role in other experiment items such as automatic tracking of underwater pipelines and dynamic positioning. |
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| Keywords: | self-propelled model test control law design underwater vehicle |
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