Research On Control Technology Of Initiative Mating Device In Underwater Vehicle

Underwater vehicles, which are important in the architecture of ocean technology, belong to a new technology with the developing of national defense and exploitation of ocean resource gradually. Underwater mating is the key technique while operating in water. After mating successfully, the other mission of mating device is to transfer people or material between submarine, ocean station and underwater vehicle.With a view to the characteristic of underwater environment, the dissertation has studied an appropriate method and work mode for coordinator control between the vehicle and the manipulators. A new type mating device is designed which has a cupule at each end of manipulator. Kinematics analysis, structural design of mating device and motion equations are also given in this paper. At the same time, the motion of manipulators' position and posture are analyzed according to the auto-mating tactic.In completing the task, cooperation exists not only among the four manipulators, but between underwater vehicle and manipulators as well. Because the motion trajectories of the vehicle and manipulators are both pre-wise, and there are complicated logic relations between controlled events, the supervisory control theory of discrete event systems (DES) is used to design the coordinated controller. The states and events of automata model are defined by simultaneously partitioning the workspace of manipulators and the workspace of vehicle. It is shown that the modeling approach could treat with concurrence. The mating operation models are established and the functions of monitor are described in proceed of cooperating. On other side, equivalence class is used to simplify the relation between manipulators and task goal. The architecture of coordinating level is simplified quietly at the same time.In logical level, the supervisor can determine which event will be fired next step by observing the occurrence of events sequence, and can make the system recovered from failed actions. But such a supervisor may leave the system in performing a fixed sequence of events infinitely. Based on the development of supervisory control of timed discrete event systems (TDES) and logical results obtained previously, timed characteristics of the operational process is considered...