Attitude Control Strategy Of Marine Seismic Towed Cable

In marine seismic exploration, the seismic streamer system plays animportant role. Maintaining the streamer’s attitude underwater is the basis toobtain high-quality exploration information and the ‘bird’is the effective wayto solve this problem. The present thesis carries out attitude control researchon marine seismic streamer.Firstly, this thesis establishes attitude control of marine seismic streameras the research object.Then， based on Hamilton’s principle, thelinear-dynamic model of streamers and ‘bird’ are established. Finally threecontrol strategies are designed to control the attitude of the streamer， theyare PID control strategy, complex modal control strategy and robust adaptivecontrol strategy. In PID control strategy，the linear-dynamic model is discretethrough finite difference method. Simulation verifies the effectiveness of thecontrol law.In independent complex mode space, based on mode observer,the optimal control law on low order modes is designed by choosingappropriate weight matrix. In robust control strategy，the cable and bird’senergy is chosen as Lyapunov function. Then the adaptive robust control lawis designed considering the uncertain parameters in actual workingconditions.The adaptive controllers can update the variations of bird’stension and the variations of towed seismic streamer density.The adaptiverobust control law is stable.