Research On Control Technology Of Automatic Mating Process For DSRV With A Gradient Skirt

Based on the ability of six-freedom dynamic positioning of Deep Submergence Rescue Vehicle (DSRV), the paper mainly studies the control technology of automatic mating process of DSRV after a gradient skirt is fixed on it.When it concerns the deep submergence rescue in the world, on the condition of low visibility and great-ocean current, especially large leaning, it is very difficult for DSRV to mate with the wrecked submarine under water and realize rescue. There are mainly two reasons as follows:1 Terrible conditions of maritime space where the submarine wrecked;2 Large gradient angle of the wrecked submarine;It can overcome the influence of current and low visibility when Dynamic Position System (DPS) is fixed on DSRV. Harbin Engineering University had gained some achievement in the field of DPS. However it had been a problem of desiderate to solve that how to make DSRV mate with large leaning wrecked submarine.Fixing a gradient skirt with a certain angle on DSRV can decrease the angle of inclination of DSRV in the process of mating, because there is a certain gradient angle between DSRV and its skirt. Installing gradient not only extends the range on which DSRV can work but also reduces difficulty of stance control, which gets to first base for realizing mating quickly and reliably.Although there were scarce resources that we can borrow from, based on the ability of six-freedom DPS of DSRV, optimal control theory and fuzzy control theory are combined to apply to control mating process of DSRV with a gradient skirt. It has done some work as follows:1 The idea of motion compensation was brought forward in order to solve the problem which the motion of DSRV differed from its skirt.Conversion matrix of position information is derived between gradient-skirt and control reference frames.2 Apply the optimal control theory to mating control. An optimal controller of quadratic index is designed in order to realize optimal control in six-freedom in the process of mating of DSRV.3 In order to solve the problem of confirming index ,fuzzy control theory is used to rectify index function real time with the change of deviation in the mating process.