潜器精确悬停控制技术研究  

Research on Precise Hover Control Technology of a Underwater Vehicle

作　　者：耿丹萍 庄永峰[1,2] GENG Danping;ZHUANG Yongfeng(The 27th Research Institute of China Electronics Technology Corporation,Zhengzhou Henan 450047;Zhengzhou Underwater Information System Technology Lab,Zhengzhou Henan 450047)

机构地区：[1]中国电子科技集团公司第二十七研究所,河南郑州450047 [2]郑州市水下信息系统技术重点实验室,河南郑州450047

出　　处：《河南科技》2020年第1期82-86,共5页Henan Science and Technology

摘　　要：基于深海潜器悬停控制的重要意义,本文首先分析潜器浮沉运动方式及控制需求的独特性,然后梳理潜器浮沉运动控制特性及关键技术,分析运动控制建模的基本方法及途径,最后结合某水下平台的运动控制仿真及测试结果,给出潜器悬停控制发展思路。Based on the important significance of the hover control of underwater vehicle,the uniqueness of the floating and sinking motion mode and control requirements of the vehicle was analyzed firstly.The characteristics and key technologies of underwater vehicle’s floating and sinking motion control were combed,and the basic methods and approaches of motion control modeling were analyzed.Based on the motion control simulation of an underwater vehicle and the lake test results,the suggestion for hover control of underwater vehicle was given。

关 键 词：UFP PID控制 运动控制仿真 

分 类 号：U674.941[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]