Jiang Chunmeng, Zhang Hongrui, Wan Lei, Lv Jinhua, Wang Jianguo, Tang Jian, Wu Gongxing, He Bin
Wuhan Institute of Shipbuilding Technology, Wuhan 430050, China.
School of Naval Engineering, Harbin Engineering University, Harbin 150001, China.
Sensors (Basel). 2023 Jul 28;23(15):6772. doi: 10.3390/s23156772.
A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral "saturation" problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise.
本研究的重点是一种用于与深潜救援艇（DSRV）试验平台对接的六自由度（DOF）运动控制系统。现有的控制方法能够满足水下作业的一般要求，但一些方法结构复杂或参数众多，阻碍了它们的广泛应用。大多数现有方法假定横倾效应可忽略不计并予以忽略，仅在四或五个自由度上实现运动控制。鉴于对接过程中对六个自由度的位置和倾斜度有严格要求，构建了DSRV平台的软硬件架构，然后引入稀疏滤波技术进行数据平滑处理。基于自适应控制策略并考虑残余静载荷，开发了一种改进的S平面控制方法。通过将控制器计算出的力（力矩）转换到体坐标系，有效降低了推力分配的复杂性，相应解决了动态定位时高倾斜情况下的推力分配难题。利用压载水舱和泵阀的联动系统实现了纵倾角和横倾角的自动控制。提出了一种基于智能积分的PID方法，该方法不仅解决了积分“饱和”问题，还降低了稳态误差和超调量。在有水流的情况下进行了六自由度运动控制的水池试验和海上试验。水池试验和海上试验结果验证了控制系统的响应性和精度，能够满足工程实践中的控制要求。在长途巡航中也验证了所提出控制系统的可靠性和运行稳定性。
