载人潜水器“蛟龙”号的控制系统研究  

Research on the control system of human occupied vehicle “Jiaolong”

作　　者：刘开周[1,2] 祝普强[1] 赵洋[1] 崔胜国[1] 王晓辉[1,2] 

机构地区：[1]中国科学院沈阳自动化研究所,海洋技术装备研究室,沈阳110016 [2]中国科学院沈阳自动化研究所,机器人学国家重点实验室,沈阳110016

出　　处：《科学通报》2013年第S2期40-48,共9页Chinese Science Bulletin

基　　金：国家高技术研究发展计划(2002AA401003;2009AA093302);国家自然科学基金(61273334;61233013);辽宁省自然科学基金(2011010025-401)资助

摘　　要：研究了适用于深海大深度载人潜水器的控制系统.为了克服定位系统野点尤其是控制周期与测量周期非同步问题,提出了无色自适应卡尔曼滤波的深海高精度导航定位方法.同时为了克服"蛟龙"号参数时变、闭环系统各环节的不确定性问题,借鉴专家控制经验,研究了基于模糊原理的控制参数在线自动调整的控制策略,以及基于数论的数据处理方法.基于上述方法实现了"蛟龙"号在复杂海洋环境下高精度导航定位、航行控制、载人舱内综合信息显控、水面监控、黑匣子数据分析和控制系统测试等功能,成功完成了世界上首次在7000 m深度近海底的自动定向、定深、定高、定速和悬停定位5种全自动航行控制功能."蛟龙"号于2009年8~10月、2010年5~7月、2011年7~8月和2012年6~7月完成1000,3000,5000和7000 m级海上试验.试验结果表明,"蛟龙"号控制系统的功能完善、性能先进、运行稳定可靠.For the first time, whole auto-pilot near the 7000 meters bottom was accomplished in the manned deep submersible 'Jiaolong'. Its whole control system was deeply researched. In order to overcome its wild measuments, especially the steps between the control period and measuments period, variable dimension adaptive unscented Kalman filter is adopted for the precise navigation. Control strategy makes use of fuzzy theory for the purpose of control parameter automatic changing on-line, and number theory based experiment data processing method. Five automatic control functions were reached for its motion, including automatic heading, depth, altitude, velocity and dynamic positioning. Under complicated ocean environment, its precise navigation, control, information interface in cabin, surface information console, black-box data analysis, and semi-physical digital simulation technology was researched. The sea trial experiments during August to October 2009, May to July 2010, July to August 2011, and June to July 2012 showed that the control system can satisfy its demand, and it is advanced, reliable and good control performance.

关 键 词：载人潜水器 “蛟龙”号 导航定位 悬停定位 模糊PID控制 自适应无色 卡尔曼滤波 

分 类 号：U674.941[交通运输工程—船舶及航道工程] U664.82[交通运输工程—船舶与海洋工程]