有缆水下机器人主动升沉补偿控制研究

针对母船的升沉运动影响有缆水下机器人的释放与回收的工程实际需求,提出了利用液压绞车降低中继器的升沉速度来实现水下机器人主动升沉补偿控制的方法,来提高水下机器人释放与回收的安全性能。建立液压绞车的数学模型并设计主动升沉补偿前馈控制器。水下机器人主动升沉补偿实验表明液压系统的非线性降低了液压绞车主动升沉补偿前馈控制的升沉补偿效率。针对液压绞车的非线性特性,设计了液压绞车主动升沉补偿预测控制算法,仿真实验表明基于液压系统参数辨识的液压绞车主动升沉补偿预测控制可以得到较高的升沉补偿效率。

The heave motion of supporting ship affects the launching and recovering of remotely operated vehicle(ROV).Active compensation control of hydraulic winch was used to improve the launching and recovering safety of ROV by reducing the heave speed of tether management system(TMS).The model of hydraulic winch was built and active heave compensation feedforward control was set up.Active heave compensation tests of ROV indicate that non-linearity of hydraulic winch decreases the efficiency of active heave compens...

国家863高技术研究发展计划资助项目(2008AA09Z201)