Study of station and attitude maneuver of submergence rescue vehicle

(整期优先)网络出版时间:2007-01-11
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Itisanimportantcontrolprocesstooperatemotionofansubmergencerescuevehicle(SRV).Seeingthatthemotionofthesubmergencerescuevehicleisspecial,itisnecessarytoemploynon-linearpredictivecontrolsystem.Forthisreason,continuousdynamicperformanceofthesystem,thelogicalcomponentsandtheoperativerestraintsareexpressedasthenon-linearequationsofstatewiththeinequalityrestraints,andthemodelprincipleofhybridsystemisintroduced.TheconclusionshowsthatitcomestruetoexactlycontrolpositionandattitudeoftheSRVbymeansofnon-linearmodelpredictivecontrol.Thetestinamodelbasinhasalsoprovedthattheabovemethodsareefficient.