Simulation Research On Dynamical Position System For Deep Submergence Rescue Vehicle Based On VxWorks OS

A real DSRV has been taken as studying object and its DP system has been designed and simulated. The dynamic positioning is an interdisciplinary and high-new technical applied in deep sea lifesaving ,which is relying on the DSRV own power to inhibit the outside interference, dynamic controlling DSRV to stop at some ascertaining location in order to operate docking and life saving.There is a high request in the real-time and reliability because of the DP system of DSRV needing high controlling precision and fast response speed. Therefore, the P4 grade PC/104 bus embedded Industrial Computer was chosen to satisfy this system requesting high capability of real-time, compactness and lower power. At the same time, VxWorks which is a real-time multitask embedded operating system has been adopted to ensure the stability, reliability, precision and real-time of DP system.Based on the ability of four-freedom dynamic positioning of DSRV, the four-freedom motion mathematical model of DSRV has been established based on the idea of modularization model and the combination of special hull and the characteristic of underwater motion. The whole cross exploitation circumstance has been configured and constructed including the configuring BSP of VxWorks under PC/104 and exploring some essential hardware drive program according to the characteristic of PC/104 bus embedded Industrial Computer and VxWorks and the control system design configuring request. At the time,the relative fuzzy membership function has been set and the fuzzy rule base has been established according to the fuzzy theory. Then a hybrid fuzzy PID controller has been designed to control the four-freedom motion of DSRV combined with the PID control theory.The simulation result of this paper not only indicates the hybrid fuzzy PID has better control effect,but also shows it has feasibility and advantage that the embedded real-time operating system VxWorks and embedded Industrial Computer PC/104 have been adopted in the DP system of DSRV. It provides a good reference for the other design of embedded autocontrol system.