[1]昝英飞,邱天,袁利毫,等.水下狭窄环境中ROV的自主返回控制[J].智能系统学报,2022,17(4):744-751.[doi:10.11992/tis.202105032]
 ZAN Yingfei,QIU Tian,YUAN Lihao,et al.Autonomous remotely operated vehicle return control in a narrow underwater environment[J].CAAI Transactions on Intelligent Systems,2022,17(4):744-751.[doi:10.11992/tis.202105032]
点击复制

水下狭窄环境中ROV的自主返回控制

参考文献/References:
[1] 宋宪仓, 杜君峰, 王树青, 等. 海洋科学装备研究进展与发展建议[J]. 中国工程科学, 2020, 22(6): 76–83
SONG Xiancang, DU Junfeng, WANG Shuqing, et al. Research progress of marine scientific equipment and development recommendations in China[J]. Strategic study of CAE, 2020, 22(6): 76–83
[2] 曹宏涛, 张奇峰, 唐实. 国际援潜救生及深海打捞ROV现状与关键技术[J]. 舰船科学技术, 2021, 43(23): 16–20
CAO Hongtao, ZHANG Qifeng, TANG Shi. Current status and key technologies of remotely operated vehicles in international submarine rescue and deep-sea salvage[J]. Ship science and technology, 2021, 43(23): 16–20
[3] 赵留平, 李环, 王鹏. 水下无人系统智能化关键技术发展现状[J]. 无人系统技术, 2020, 3(6): 12–24
ZHAO Liuping, LI Huan, WANG Peng. Development of key technologies for intelligent unmanned underwater system[J]. Unmanned systems technology, 2020, 3(6): 12–24
[4] 宋大雷, 路宁, 周丽芹, 等. 无模型自适应控制算法在ROV定深控制中的仿真[J]. 船舶工程, 2019, 41(9): 87–92,103
SONG Dalei, LU Ning, ZHOU Liqin, et al. Simulation of model-free adaptive control algorithm in ROV depth control[J]. Ship engineering, 2019, 41(9): 87–92,103
[5] 霍星星, 葛彤, 王旭阳. 基于模糊补偿的深海作业级远程操控潜水器自适应位姿控制[J]. 上海交通大学学报, 2017, 51(4): 403–409
HUO Xingxing, GE Tong, WANG Xuyang. Adaptive position and attitude control for deep sea work-class remotely operated underwater vehicle based on fuzzy compensation[J]. Journal of Shanghai Jiaotong university, 2017, 51(4): 403–409
[6] 郭亦平, 王益民, 林莉, 等. 基于空间视线导引法的AUV三维航迹控制技术研究[J]. 声学与电子工程, 2019(4): 28–32
GUO Yiping, WANG Yimin, LIN Li, et al. Research on AUV 3D track control technology based on spatial line of sight guidance[J]. Acoustics and electronics engineering, 2019(4): 28–32
[7] 陈霄, 刘忠, 张建强, 等. 基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪[J]. 北京航空航天大学学报, 2018, 44(3): 489–499
CHEN Xiao, LIU Zhong, ZHANG Jianqiang, et al. Path following of underactuated USV based on modified integral line-of-sight guidance strategies[J]. Journal of Beijing university of aeronautics and astronautics, 2018, 44(3): 489–499
[8] FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. Chichester: John Wiley & Sons, Ltd, 2011.
[9] 唐东生, 谷海涛, 冯萌萌, 等. 面向AUV自主回收的拖曳装置水动力特性研究[J]. 舰船科学技术, 2021, 43(5): 107–114
TANG Dongsheng, GU Haitao, FENG Mengmeng, et al. Research on hydrodynamic characteristics of towing device for autonomous recovery of AUV[J]. Ship science and technology, 2021, 43(5): 107–114
[10] 赵言锋, 林明星, 代成刚, 等. ROV水动力性能及推力控制分配研究与仿真[J]. 中国科学:技术科学, 2020, 50(3): 287–298
ZHAO Yanfeng, LIN Mingxing, DAI Chenggang, et al. Research and simulation of ROV hydrodynamic performance and thrust control distribution[J]. Scientia sinica (technologica), 2020, 50(3): 287–298
[11] 徐诗婧. 开架式ROV水动力特性与运动仿真研究[D]. 哈尔滨: 哈尔滨工程大学, 2018: 57?60.
XU Shijing. Research on hydrodynamic performance and motion simulation for open-frame ROV[D]. Harbin: Harbin Engineering University, 2018: 57?60.
[12] XU S J, MA Q W, HAN D F. Experimental study on inertial hydrodynamic behaviors of a complex remotely operated vehicle[J]. European journal of mechanics - B/fluids, 2017, 65: 1–9.
[13] XU S J, HAN D F, MA Q W. Hydrodynamic forces and moments acting on a remotely operate vehicle with an asymmetric shape moving in a vertical plane[J]. European journal of mechanics - B/fluids, 2015, 54: 1–9.
[14] 安顺, 何燕, 王龙金. 基于反步自适应控制算法的船舶航向控制方法[J]. 机电设备, 2020, 37(6): 65–69
AN Shun, HE Yan, WANG Longjin. A ship course control approach based on backstepping adaptive algorithm[J]. Mechanical and electrical equipment, 2020, 37(6): 65–69
[15] HOLDEN C, PETTERSEN K Y. Robust globally exponentially stabilizing control law for fully actuated 6-dof auvs[J]. IFAC proceedings volumes, 2007, 40(17): 343–348.
[16] EGELAND O, GRAVDAHL J T. Modeling and simulation for automatic control[M]. Trondheim: Marine Cybernetics, 2002: 240?241.
[17] IOANNOU P, SUN Jing. Robust adaptive control [M]. New York: Dover Publications, 2012
[18] YU Caoyang, LIU Chunhu, XIANG Xianbo, et al. Line-of-sight guided time delay control for three-dimensional coupled path following of underactuated underwater vehicles with roll dynamics[J]. Ocean engineering, 2020, 207: 107410.
[19] 姚金艺, 曾庆军, 赵强, 等. 全驱动型AUV三维路径跟踪控制系统设计及分析[J]. 中国舰船研究, 2019, 14(6): 22–29
YAO Jinyi, ZENG Qingjun, ZHAO Qiang, et al. Design and analysis of fully-actuated AUV’s three-dimensional path tracking control system[J]. Chinese journal of ship research, 2019, 14(6): 22–29
[20] 吕骥, 张洪星, 陈浩. 水下机器人(ROV)在水库大坝检测作业的安全分析[J]. 水利规划与设计, 2017(10): 112–114
LYU Ji, ZHANG Hongxing, CHEN Hao. ROV safety analysis of reservoir dam inspection operation[J]. Water resources planning and design, 2017(10): 112–114

备注/Memo

收稿日期:2021-05-21。
基金项目:国家重点研发计划项目(2018YFC0309401);黑龙江省博士后基金项目(LBH-Z19054);陵水半潜式生产平台研究专项项目(LSZX-2020-HN-02).
作者简介:昝英飞,副教授,博士生导师,主要研究方向为数字孪生技术、船舶与海洋工程作业仿真、水下机器人运动建模与仿真技术、船舶运动建模与仿真技术、海洋工程作业数学模型与仿真技术、实时仿真技术。申请发明专利及软件著作权15项,发表学术论文 40余篇;邱天,硕士研究生,主要研究方向为水下机器人运动控制仿真;袁利毫,教授,博士生导师,主要研究方向为舰船数字化与仿真、船海装备数字孪生、计算可视化仿真。获省部级科技进步一等奖1项、二等奖4项、三等奖3项。发表学术论文30余篇,出版专著2部。
通讯作者:袁利毫. E-mail:yuanlihao@hrbeu.edu.cn

更新日期/Last Update: 1900-01-01
Copyright © 《 智能系统学报》 编辑部
地址:(150001)黑龙江省哈尔滨市南岗区南通大街145-1号楼 电话:0451- 82534001、82518134 邮箱:tis@vip.sina.com