| Since AUV technology birth, it plays an increasing role in science research, nation defense, exploit and other underwater operations. The research on AUV underwater recovery technology is of great significance, for an extension of AUV operating space, to expand operational capability. The use of dock cabin in recovery, can effectively guarantee the integrity of the shape recovery platform, reducing the impact on performance of the recovery platform.In this new type of recovery mode, the recovery process need to rationalize the paths and steps, as well as more responsive to 6-DOF AUV dynamic positioning of the dynamic control technique, based on optimization strategies to complete the entire process. In this article, for AUV multi-variable, nonlinear and strong coupling features, it design a dynamic controller with rolling optimization strategy of predictive control, and a coordinated controller for dealing with the exceptions and realization of the recovery process co-ordination.Starting with multivariable generalized predictive control, according to the principle of progressive complexity, it deduced from a 6-DOF AUV mathematical model to control model using in predictive control. According to the manner of process on non-linear and constraint in integrated predictive control technology, it build dynamic controller. With Concept of the use of hybrid systems, coupled reference of the dynamic and discrete nature, the use of pattern recognition techniques for classifing the abnormal data and judgments, and Petri net technology for dealing details in the recycling process, through real-time measurement and determine, it achieve the purposes of analyzing and monitoring the recovery of state, judging and controlling the real-time action.With high-precision AUV 6-DOF mathematical model for the simulation, through the four pilot-step simulation and testing, it access to the recovery experimental data, and the effect of recovery control system was examined. |
PDF Full Text Request