In order to predict the dive motion of a deep manned submersible currently developed in China,a three-degree-of-freedom dynamic model is developed to simulate its dive motion restricted in the vertical plane. Being th...In order to predict the dive motion of a deep manned submersible currently developed in China,a three-degree-of-freedom dynamic model is developed to simulate its dive motion restricted in the vertical plane. Being the nonlinear function of attack angle, the hydrodynamic forces acting upon the submersible are determined by a towing tank test.Based on these experimental values,the hydrodynamic forces are identified by a general regression neural network (GRNN) over a wide range of attack angles.Results of numerical examples are presented in this paper to explain practical applications of the method.展开更多
介绍了大深度载人潜器概念设计中总体多学科设计模型的建模方法和过程,并开发了总体设计集成程序(Concept Design of Deep Manned Submersible,CDMS),采用7000m载人潜器的设计数据对其进行了测试,验证该模型是可靠的,可用于载人潜器的...介绍了大深度载人潜器概念设计中总体多学科设计模型的建模方法和过程,并开发了总体设计集成程序(Concept Design of Deep Manned Submersible,CDMS),采用7000m载人潜器的设计数据对其进行了测试,验证该模型是可靠的,可用于载人潜器的性能分析和多学科优化设计中。此外,以7000m载人潜器为例,对潜器的重量/浮容积特性进行了分析,讨论了几个主要设计参数对潜器重量/浮容积性能的影响,获得了一些有价值的结论,可供同类型载人潜器总体设计时参考。展开更多
In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane i...In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.展开更多
文摘In order to predict the dive motion of a deep manned submersible currently developed in China,a three-degree-of-freedom dynamic model is developed to simulate its dive motion restricted in the vertical plane. Being the nonlinear function of attack angle, the hydrodynamic forces acting upon the submersible are determined by a towing tank test.Based on these experimental values,the hydrodynamic forces are identified by a general regression neural network (GRNN) over a wide range of attack angles.Results of numerical examples are presented in this paper to explain practical applications of the method.
文摘介绍了大深度载人潜器概念设计中总体多学科设计模型的建模方法和过程,并开发了总体设计集成程序(Concept Design of Deep Manned Submersible,CDMS),采用7000m载人潜器的设计数据对其进行了测试,验证该模型是可靠的,可用于载人潜器的性能分析和多学科优化设计中。此外,以7000m载人潜器为例,对潜器的重量/浮容积特性进行了分析,讨论了几个主要设计参数对潜器重量/浮容积性能的影响,获得了一些有价值的结论,可供同类型载人潜器总体设计时参考。
基金Supported by the State Key Program of National Natural Science of China(Project No.51439004)The general Program of National Natural Science Foundation of China(Project No.51679133)The scientific innovation program project by the Shanghai Committee of Science and Technology(Project No.15DZ1207000)
基金The paper was financially supported by the National High Technology Research and Development Programof China(863 Program) (Grant No.2002AA401002)
文摘In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.
