| 基于混杂系统理论的救生艇自动对接过程协调控制 |
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| 引用本文： | 郑可为,边信黔,施小成.基于混杂系统理论的救生艇自动对接过程协调控制[J].哈尔滨工程大学学报,2007,28(8):885-889. |
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| 作者姓名： | 郑可为 边信黔 施小成 |
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| 作者单位： | 哈尔滨工程大学,自动化学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 国防科工委基础研究项目 |
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| 摘 要： | 救生艇与失事艇的对接是一个复杂的控制过程.在对接过程中救生艇与失事艇的相对位置及姿态是不断变化的,文中基于混杂系统理论通过监控救生艇与失事艇的相对位姿自动控制对接过程.从离散事件角度分析了救生艇与失事艇相对位姿的各种可能性,建立了救生艇自动对接过程的自动机模型.研究表明,该方法能很好地实现自动对接任务.水池实验也证明了该方法的有效性.
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| 关 键 词： | 救生艇 协调控制 自动对接过程 混杂系统 离散事件 |
| 文章编号： | 1006-7043（2007）08-0885-05 |
| 修稿时间： | 2006-05-16 |
Coordinated control of automatic docking for an underwater rescue vehicle based on hybrid system theory |
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| ZHENG Ke-wei,BIAN Xin-qian,SHI Xiao-cheng.Coordinated control of automatic docking for an underwater rescue vehicle based on hybrid system theory[J].Journal of Harbin Engineering University,2007,28(8):885-889. |
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| Authors: | ZHENG Ke-wei BIAN Xin-qian SHI Xiao-cheng |
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| Affiliation: | College of Automation, Harbin Engineering University, Harbin 150001 ,China |
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| Abstract: | Docking an underwater rescue vehicle with a disabled submarine requires a complex control process. During the joining process, relative positions and attitudes of the rescue vehicle and the disabled submarine are continuously changing. In is paper, a hybrid system is used to automatically control the docking procedure based on feedback on relative positions and attitudes as well as calculations of possible positions and attitudes by means of discrete event analysis. A digital model for, managing auto-docking is then generated. Experimental tests using models in a water basin prove the effectiveness of this approach for auto-docking. |
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| Keywords: | submergence rescue vehicle coordinated control automatic docking process hybrid system discrete event |
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