摘要
针对母船的升沉运动会影响到带缆遥控水下机器人的安全作业和收放功能,提出了利用液压绞车进行水下机器人自动升沉补偿的方案.设计了带缆遥控水下机器人升沉补偿液压系统,控制系统采用了神经元自适应PID控制算法.并在Matlab中进行了仿真,仿真结果表明,该系统能够较好的实现水下机器人的升沉补偿运动.
The supporting ship heave motion affects the remotely operated vehicle safety operation and storage function, using hydraulic winch for automatic heave compensation of ROV was presented in this paper, The heave compensation hydraulic system of ROV has been designed, which the neuron adaptive PID control algorithm has been adopted. And has been simulate in mat lab, the simulation result show that the system can realize the ROV heave compensation movement.
出处
《广州航海学院学报》
2015年第4期1-4,共4页
Journal of Guangzhou Maritime University
基金
国家自然科学基金资助项目(11372112)
广州航海学院创新强校工程项目(A510715
A422030)
关键词
水下机器人
自动升沉补偿
液压系统
神经元PID控制
Remotely Operated Vehicle
Automatic Heave Compensation
Hydraulic System
Neuron PID Control
