Research On Control Of Dynamical Position System For Deep Submergence Rescue Vehicle

At present, people need increasing for high quality vessels with dynamic positioning (DP) systems, with exploiting sea's resources into deepwater. It impels researchers to study and develop hi-new technique continuously, so that the demand is satisfied in civil and military fields. The dynamic positioning technique has been developed for more than 30 years and has formed a high scientific industry that promotes the corresponding scientific researches abroad.This paper , targetting the four-fredom-degree deep submergence rescue vehicle, studies the new control technology on the deep submergence rescue dynamic position to enhence the deep submergence rescue vehicle allocation accuracy and deep submergence rescue vehicle working stability and to strengthen the anti-interference ability and the reduction of energy consumption of the dynamic position system. Now the studying of deep submergence rescue vehicle operating performance has some reports using CMAC neural network. The reports that the studying methods with my studying are similar or near has not been found at home and abroad up to now. The main researching works in the paper are summarized as follows:Make use of modularization to build the model, built the model of deep submergence rescue vehicle's dynamic position system, and built the emulation procedure , including that the deep submergence rescue vehicle moving mathematic model,Propeller model and environment mathematic model(ocean current). By simulating, verifies the model correctness.Firstly, studied feed-forward neural network and put forward a new algorithm on CMAC network, called compound PH) algorithm based on CMAC neural network, and the algorithm is proved to be effective. Build the compound controller of CMAC neural networks and routine PID.Compile the procedure of dynamic position system emulation by C++. Simulate specifically for the routine PID controller , the compound controller of CMAC neural networks and routine PID. By simulated result, verify the technology's rationality and pragmatism.This paper researches the basic components of deep submergence rescue vehicle's dynamic positioning system and the solution schemes of its control system, and provides a reference basis for the practicality of the dynamic positioning system. The research results and conclusions in the paper are theoretical signification and practical value to develop deep submergence rescue vehicle's dynamic positioning system for our country.This paper researches new control method of deep submergence rescue vehicle's dynamic positioning system. This method can be carried out application in the dynamic position system design.