深潜救生艇航行控制系统研究与实现  

Research and implementation on navigation control system for DSRV

作　　者：张伟 郑鹏[1,3] 谢飞 李德军 胡震[1,3] 杨申申 无 ZHANG Wei;ZHENG Peng;XIE Fei;LI De-jun;YANG Shen-shen;HU Zhen;无(State Key Laboratory of Deepsea Manned Vehicle,Wuxi 214082,China;TaiHu Laboratory of Deepsea Technological Science,Wuxi 214082,China;China Ship Scientific Research Center,Wuxi 214082,China)

机构地区：[1]深海载人装备国家重点实验室,江苏无锡214082 [2]深海技术科学太湖实验室,江苏无锡214082 [3]中国船舶科学研究中心,江苏无锡214082

出　　处：《舰船科学技术》2022年第9期57-62,共6页Ship Science and Technology

基　　金：国家重点研发计划(2016YFC0300600,2018YFC0309300);中国科协青年人才托举工程(2019QNRC001)。

摘　　要：深潜救生艇是一类无缆自航式援潜救生装备。针对深潜救生艇航行控制需求,对航行控制系统进行研究,构建系统体系结构,建立深潜救生艇运动数学建模,开展软硬件设计,并进行仿真和试验验证。半物理仿真和海上试验结果,验证了航行控制系统性能稳定可靠,自动控制精度较高,完全满足航行控制需求。Deep submergence rescue vehicle(DSRV)is a kind of self-propelled rescue equipment without cables.Aiming at the navigation control demand of DSRV,the navigation control system is studied,the system architecture is constructed,the mathematical model of DSRV motion is established,the hardware and software are designed,and the simulation and test are carried out.The results of semi-physical simulation and sea test prove that the navigation control system is stable and reliable,the automatic control precision is high,and the navigation control demand is satisfied.

关 键 词：深潜救生艇 航行控制 自动定向 自动定深 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U674.941[自动化与计算机技术—控制科学与工程]