摘要
本文以安装有 4只机械手的 6自由度无人水下潜器的定位过程为背景 ,研究了基于离散事件系统监控理论的定位过程监控问题。首先对该监控理论中可控事件和不可控事件赋予了新的含义 ,然后建立了定位过程的自动机模型 ,并通过对潜器结构的分析 ,利用等价类概念对自动机模型进行了简化 。
A six degree of freedom model for the positioning process of an unmanned under water vehicle, which comprises 4 manipul ators mounted on the underside midsectio n, is used and a supervisory control sch eme is designed based on discrete event systems (DES) theory. At First, the cont rollable and uncontrollable events are i nterpreted in a new semantics, then, the automata model of positioning process i s established, By analyzing the structur e characteristics of the UUV, the automa ta model is simplified using the concept of equivalence classes. Meanwhile, supe rvisory control problem is discussed.
出处
《中国造船》
EI
CSCD
北大核心
2001年第3期39-42,共4页
Shipbuilding of China
