SARV光纤收放装置的控制系统设计与实现

根据小型自治遥控水下机器人SARV的运动特性,研制了光纤微缆收放的控制系统。设计使用了嵌入式QNX软件开发技术,系统稳定可靠。采用系统辨识的方法,获得被控对象的等效数学模型。采用单神经元自适应PID控制器对控制参数进行在线自调节,实现了SARV在水中运动时光纤收放的恒张力控制,满足光纤收放装置的设计要求。

On the basis of kinetic characteristic of SARV(Small Autonomous Remotely Vehicle), the scheme gives out the control sys-tem of MFOC(micro-fiber optical cable) deployment. The system uses the software development technology of embedded QNX, which is steady and reliable; get the equivalent model of plant by adopting the method of system identification. Using the self-tuning single neuron PID controller, the system realizes the constant tension control for MFOC when SARV motions in water, meets the perfor-mance of MFOC deployment.

中国科学院创新基金(03F6060601)