Research On Virtual Control System For The Process Of DSRV Operation

Human being is entering the marine era. People explore the scope of marine development more and more widely. Many countries have gone along the development work of manned submersibles. The deep submergence rescue vehicle (DSRV) is a specialized bottom boat wrecked submarine hatch and docking skirt on manned submersible. When a submarine wrecks, it is necessary for a deep submergence rescue vehicle to perform an attempt of a rescue. The uppermost technical problem, in the process of DSRV operation, is controlling a deep submergence rescue vehicle mating with a wrecking submarine underwater. Against the background, the main task of this paper is that applying virtual reality technology and automatic control theory to set up a virtual training system for researching the process of driving personnel controlling deep submergence rescue vehicle to underwater mating with submarine sinking in the sea. The thesis mainly analyses and studies the following content.This paper studies four freedom degrees motion control of DSRV. First of all, the mathematic models of four-freedom degrees motion of deep submergence rescue vehicle, thrusters and disturbing circumstances and so on are established by using the four-order Runge-Kutta method to solve the differential equations of the model. In allusion to qualities belonging to the movements of the deep submergence rescue vehicle, simulation program is compiled by using Visual C++, by analyzing the simulation results of two controllers. Fuzzy PID controller has a smaller overshoot and greater stability than PID controller. In conclusion, Fuzzy PID controller has better qualities than PID controller.And then in this paper, by using the Multigen Creator software, the three-dimensional models including deep submergence rescue vehicle, wrecking submarine, seabed terrain and so on are set up, which are involved in the process of deep submergence rescue vehicle operations. DOF and level of detail LOD technology are added. Based on Vega Prime, the three-dimensional visual simulation system is established. An interactive application program is compiled with API functions of Vega Prime and four observational viewpoints are designed to observe the whole process operations easily.Deep submergence rescue vehicles has automatic control functions, but has not yet reached the extent of full automatic control without human control. Particularly in the complex environment, the operation of DSRV depends heavily on the driver's proficiency. In the end, manipulation system of deep submergence rescue vehicle is combined with a three dimensional scene simulation system to form a virtual control system operating process for the deep submergence rescue vehicle, and verify that the virtual control of DSRV can be realized...