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最近10年来,ROV和AUV在反水雷中的重要性越来越明显。未来的反水雷UUV必将包括各种不同的工作模式:从简单的高速航渡到作业水域再到以高精度跟踪或距离保持为目的。为了给此类航行器设计有效的运动控制系统,需要模拟工具,此种工具具有在感兴趣的各种作业条件下保持良好精度的能力。模拟控制系统的开发和试验是花费时间的任务,通常对于不同的航行器都要单独地进行。提出一种综合的模拟和控制设计框架,主要目的是减少综合UUV运动控制系统的整个开发和试验时间。一方面通过保持模拟和控制设计工具之间的完全独立性,另一方面维持个别航行器驱动器的配置和特殊的控制任务来实现此目的。演示了如何在此种方式下灵活地利用基于模型的控制设计方法。此种框架一建立,很容易适合其它航行器与其它控制模式。
The importance of ROVs and AUVs in mine-countermeasures has become increasingly evident in the last 10 years. The future of anti-mine UUV will certainly include a variety of different modes of operation: from simple high-speed navigation to the operating waters and then with high precision tracking or distance maintenance for the purpose. In order to design an effective motion control system for such a craft, simulation tools are needed that have the ability to maintain good accuracy under a variety of operating conditions of interest. Development and testing of simulation control systems is a time-consuming task and is often done separately for different craft. Proposed a comprehensive simulation and control design framework, the main purpose is to reduce the overall development of UUV motion control system and test time. This is achieved on the one hand by maintaining complete independence between the simulation and control design tools and, on the other hand, by maintaining the configuration of individual aircraft actuators and special control tasks. Demonstrates how to flexibly utilize model-based control design methods in this way. Once established, this framework fits easily with other aircraft and other control modes.