Research Of Positioning Control System For Saturation Diving Based On Dynamic C

Saturation diving techniques plays an important role in marine resourceexploration, deep sea rescue and submarine operations, but due to the effectof complex and unknown environmental factors of the sea-level and seabed.The mother ship and underwater in the deep sea are prone to all kinds ofdangers when they are operated. In recent years, major research institutionshave been studying on heave compensation for saturation diving system.This article describes a complete saturation of heave compensationsimulating test system; it mainly consists of the mother ship (six DOF),submersible equipment (simulated load), winches, and hydraulic andelectrical control systems. And the test system is used to research the mainwinches of saturation diving system, cord winder active and passive heavecompensation technology and double-acting cylinder active heavecompensation technology. The paper details the over all design of hydraulicsystem, electrical control system, including Hydraulic station and the designof monitoring on Hydraulic station, six DOF platform and simulation loadby electric control device. By PC collection to real-time display andmonitoring of flow, temperature and pressure of the hydraulic station andheave of six degree of freedom simulation platform, load displacement andcable tension. Response speed according to the system requirements, selectthe Adaptive fuzzy PID control algorithm, combined with dynamic c(Dynamic c) programming platform for preparation of the correspondingprogram.When the system is doing a joint test, the hydraulic system acceptselectrical operation signal, to make hoist drive of winch and hoist cordstepless speed regulation (in theory, the lifting speed is constant from theload changes).And to achieve the conversion of low speed high torque andhigh speed small torque. According to the PID control signals generated by cable tension from electrical measurement and control system, to achievedefinitive tension control of hoist system, double-acting cylinder cable, cordsystem. According to the PID control signals generated by cable tension andmotor rotary encoder feedback signal (or cylinder displacement sensorfeedback signals) from electrical measurement and control system, toachieve passive heave compensation of hoist system, double-acting cylindercable, cord system. According to the PID control signals generated bymotion parameters for a given platform, cable tension feedback signal(cylinder displacement sensor feedback signals) from electricalmeasurement and control system, to achieve active heave compensation ofhoist system, double-acting cylinder cable, and cord system.Conclusions: The control system meets the requirements of simulationexperiment of the system and provides theory guidance of real experimentresearch with characteristic of low cost, simple programming, high dataoutput rate, high control precision, position swiftly and strong stability.