摘要
研究了水下坞舱回收无人水下航行器(UUV)过程中的运动控制问题,详细介绍了坞舱搭载回收UUV的原理,建立了UUV回收中的数学模型。提出了一种基于对线控位策略的回收方法,通过一个双参考点的定位控制来实现UUV的回收。设计了UUV回收的位置和姿态的灰色预测PID控制器,以减小UUV回收控制中的超调量和调整时间。仿真验证结果表明了对线控位策略对于坞舱回收UUV是可行的,所设计的灰色预测PID控制器可以实现UUV回收的精确控制。
The motion control problem of unmanned underwater vehicle （UUV） recovery using the underwater dock is researched. The principle of the dock carrying UUV for recovery is introduced in detail. The mathematical model of UUV recovery is established and a recovery method is proposed based on the strategy of dynamic positioning to line （DPL） to realize positioning control of a double reference point. The Grey prediction PID controller is designed for the positions and attitudes＇ of UUV recovery. Then the overshoot and adjustment time can be reduced during the control of UUV recovery. The simulation results show that the strategy of DPL is feasible to dock recovery for UUV. The grey prediction PID controller can achieve precise control of UUV recovery.
出处
《船舶工程》
北大核心
2013年第5期64-67,104,共5页
Ship Engineering
基金
国家自然基金青年项目(51109043/E091002)
中央高校基本科研业务费专项资金资助(HEUCF041323)
关键词
无人水下航行器
水下坞舱回收
对线控位
灰色预测PID控制
unmanned underwater vehicle （JJUV）
underwater dock recovery, dynamic positioning to line,grey prediction PID control
