Research On Automatic Mating Process For Deep Submergence Rescue Vehicle

This paper is based on ability of Deep Submergence Rescue Vehicle (DSRV) in six-freedom dynamic positioning , and by means of hybrid dynamical system (HDS) theory and eight whirling fluid sensors which are fixed on the skirt rim of the DSRV instead of four manipulators. In the paper hybrid dynamical system (HDS) theory is introduced to solve mating of DSRV with the wrecked submarine. Now, in the world the deep submergence rescue is not yet solved under the circumstances of low visibility, great ocean-current and leaning over 45 degrees. All the state in the world try their best to solve these technique problem after Russia's nuclear-powered submarine wreckage . Solving these technique problem is also our target.During ';85plan" Harbin Engineering University (HEU) takes four-freedom dynamic positioning technique as the starting point of DSRV, and have realized in 1997 May. Afterwards, six-freedom dynamic positioning system and underwater mating manipulators units come into the world. By all these is meant getting to first base under the circumstances of low visibility, great ocean-current and leaning over 45 degrees.At the present HEU is developing much more effective measures.The deep submergence rescue contains four stage. First stage is that of moving for some distance from wrecked submarine. Second stage is that of four-freedom dynamic positioning. Third stage is that of adjusting attitude and realizing six-freedom dynamic positioning. Fourth stage is that of touching and mating and rescue.For lack of relative materials the present writer is based on ability of Deep Submergence Rescue Vehicle (DSRV) in six-freedom dynamic positioning, and applies hybrid dynamical system (HDS) theory to control of mating process of DSRV with the wrecked submarine. Works of the present writer contain three aspect:(1) To build mathematical model of mating surface, based on measured valuefrom eight whirling fluid sensors and by means of least square law ; To apply hybrid dynamical system (HDS) theory to analyzing relative location of eight whirling fluid sensors for getting more information of control.(2) To apply hybrid dynamical system (HDS) theory to supervising and controlling mating process.(3) To apply predictive control algorithm to realizing movement control for mating process of DSRV. Surely of course , Since reason on the construction of DSRV, there is coupling in aspect of moving or control of rescue vehicle , and can be eliminated by means of designing.