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介绍基于串级系统的新型海洋勘探拖缆位置控制器(水鸟)基本原理,以深度控制为例,介绍串级系统工作过程.建立水鸟运动学和电机传递函数模型,选取一种模拟工况,利用Simulink仿真软件建立仿真程序,对串级系统进行仿真.对比非串级系统,串级系统在快速性和稳定性方面均有明显改进.
This paper introduces the basic principle of a new marine survey streamer position controller (waterfowl) based on cascade system, taking depth control as an example to introduce the working process of cascade system.Firstly, the waterfowl kinematics and the motor transfer function model are established, a simulation working condition is selected, Simulink simulation software was used to simulate the cascaded system.Compared with non-cascade cascaded cascaded cascaded cascaded systems, the cascaded system improved significantly in terms of fastness and stability.