Simulative Experiment Research On The Model Identification Of Submersible Reference Frame Control System

Heave compensation is one of the key techniques which need to be solved in the deep sea mine technique. When deep sea mine is running, heave compensation system need to get the heave movement of the mining ship as the feedback signal to carry on the compensation control. It is difficult to find a static place to measure the heave movement of the mining ship under the wave in the ocean. An idea that a submersible body can be used for a suitable reference frame had been put forward in the previous research on this project. Hence, much research is done. Base on this idea, the research on this thesis is focused on the model identification of Submersible Reference Frame(SRF).The article discussed the background and meaning of the topic first, introducing a domestic and international concerning SRF model identification research. Secondly analyze the work principle of SRF, introduce device structure and its depth control method, in the meantime in carrying on the foundation of the simplification to the system, analyze the dynamics of the portrait motion of the SRF, to obtain as much experience as possible for the experiment. For model identification research of the SRF motion under control, build a simulative system which has a conform rule with the original system. Through research the simulative system, analyze the performance of the original system. Base on the identification theories, in consideration of various objective conditions ,such as the environment and experiment equipment etc., draw up an experiment project and build up the hardware and software of identification system, and carry on the experiment. Finally, carry on processing and analysis towards the measuring data in the experiment by usage software such as Matlab to get the motion model of the simulative system. Then carry on a verification to the model, the result suggest that the model is identical with the reality system in collectivity.The research is a part of the project, Research on the heave compensation system for deep sea mining system sponsored by the national natural science fund, and a part of the project, Research on Submersible Reference Frame sponsored by natural science fund of Guangdong province education bureau. Build up a mathematic model for the SRF motion under the controller control. This acquire of model, provide an important reference for the research of the deepness control to the SRF, make a progress for the research of SRF.