AUV控制系统规划层DEDS建模与仿真  

DEDS Modelling and Simulation of the Planning Layer of AUV Control System

作　　者：邹海[1] 边信黔[1] 

机构地区：[1]哈尔滨工程大学动力与核能工程学院,黑龙江哈尔滨150001

出　　处：《计算机仿真》2007年第3期164-168,共5页Computer Simulation

摘　　要：地形勘查使命执行过程中,AUV(自治式水下机器人)控制系统的规划层对于AUV自主智能决策起到了至关重要的作用,对于AUV控制系统规划层进行DEDS(离散事件系统)建模与仿真研究可以使我们深入地了解并验证AUV自主能力。介绍了AUV控制系统逻辑模型以及监督控制理论,采用分层PETRI网对规划层进行了离散事件系统建模,采用了一种改进的RW离散事件监控方法对规划层模型进行了协调,通过对于任务库所的扩展,详细阐述了这种分层结构。采用一种半物理仿真平台,对模型的几种典型状态进行了仿真研究,最后通过一个具体的使命对AUV控制系统的规划层模型进行了仿真验证,仿真结果表明规划层模型能够正确协调各个任务,处理突发事件,指导AUV最大限度完成地形勘查使命。During the implementation of terrain scanning mission, the planning layer of AUV （ autonomous underwater vehicle） control system is of vital importance to the intelligent decision -making. We can deeply know and validate the autonomy ability of AUV through the modeling and simulation of the planning layer of AUV control system. In this paper, the logical model of AUV control system and the theory of supervisory control are introduced. Hierarchical Petri net is used to model the DEDS （ discrete event dynamic system） of AUV planning layer control system. An improved RW discrete event supervisory control theory is preferred to coordinate the model of planning layer. The hierarchical structure is illustrated by extending a task place. A semi - physical simulation platform is taken to study several characteristic states, and the planning layer model is validated by a specified terrain scanning mission. The simulation results show that the model of planning layer can supervise AUV to reach several states successfully, and coordinate each task correctly to complete the multi -terrain scanning mission.

关 键 词：自治式水下机器人 离散事件系统 监督控制 混杂系统 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]