載人潛水器運(yùn)動(dòng)控制系統(tǒng)研究.pdf

1、哈爾濱工程大學(xué)碩士學(xué)位論文載人潛水器運(yùn)動(dòng)控制系統(tǒng)研究姓名：任康旭申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：船舶與海洋結(jié)構(gòu)物設(shè)計(jì)制造指導(dǎo)教師：萬磊20090101哈爾濱1：稗人學(xué)碩十學(xué)何論文AbstractComparedwithunmannedsubmersible，HumanOccupiedVehicle(HOV)hasobviousadvantagesandbroadapplicationprospectsinunderwaterlife—savin

2、g，personneltransportation，fixingandmaintainofunderwaterequipments，explorationanddevelopmentofmarineresourcesandSOonMotioncontrolsystemisoneofthekeytechnologiesinthesystemresearchofHOVTherefore，ithasimportantsignificanceo

3、ftheoryresearchandpracticalvalueBasedonthespacemotionequationswithsixdegreesoffreedom，adynamicsimulationmodeloftheHOVisconstructedaccordingtotheobjectthatisstudiedBesides，combinedwiththedisposalofthrustersandthedemandsof

4、controllerdesign，thelogicaldistributionofthethrustersisdoneinthebothhorizontalplaneandverticalplaneIntegratedcontrolanddisplaysystemofHOVisdesignedinordertomeettheneedsofmotioncontrol，whichmainlyaccomplishestherealizatio

5、noftheconsolefunctionandthedesignofthecontrolsoftwareWiththehelpofcomputers，thesystemnotonlycancarryoutfunctionsofmanualoperationandautomation，butalsocandisplaythemotioninformationcontinuouslyThesystemprovidesafriendlyhu

6、man—machineinterface，andisconvenientforthedriverstOoperatetheHOVInordertoreducethedifficultiesanderrorscausedbytheparametersadjustmentinSplanecontrol，aparticleswarmoptimizationalgorithmwithmutation(IPSOM)isattempttooptim

7、izeSplanecontrollerparametersThealgorithmintroducesmutationoperatorintotheparticleswarmoptimizationandreplacesthoseparticlesflyingoutthesolutionspacewithnewparticlesduringthesearchingprocesstoovercometheshortcomingofthel