灭雷具CGF仿人操控行为建模

Mine Hunting ROV CGF Behavior Modeling of Human-Simulated Manipulation and Control

灭雷具在动力上受海流和电缆的非线性耦合作用力影响,其水下操控十分复杂。针对灭雷具CGF(Computer Generation Force)系统行为建模的需求,建立了简化的四自由度动力学模型,同时考虑了海流和电缆扰动的影响并对缆长和动力分配进行优化计算以实现最优缆长控制和最短路径规划;综合分析了灭雷具水下操控规则,从动力控制和路径规划两个层次来建立其行为规则库,得到了与实际相符的灭雷具智能体仿人操控轨迹。仿真结果表明了该行为模型的正确性和有效性,能较好的满足仿真系统的需求。

The underwater control of minehunting ROV is quite complicated because it is influenced by the nonlinear coupling force of the ocean current and cable. According to the behaviour modelling demand of minehunting ROV CGF system, a simplified four-freedom dynamical model is created. It takes the interference of ocean current and the cable into consideration and realizes an optimized cable length control and a minimal path plan by optimized computing the length of the cable and the power distribution. The model comprehensively analyzes the underwater controlling rules and sets up a rule base according to the dynamic control and path plan. Minehunting ROV＇s human-simulated manipulated and control trace witch match to the real situation were got, The result indicates the rationality and validity of the model and preferably satisfies the demand of the simulation system.