Intelligent Underwater Towed System

提出了一种新的水下拖曳航行器制导控制概念，实现了水下拖曳航行器在垂直轴和水平轴上的稳定姿态作业，其控制结构具有姿态控制、制导、导航、路径规划和通信等层次化结构。采用CCV(Control Configuring Vehicle)技术进行姿态控制，实现运动部件的解耦。在考虑稳定性和姿态解耦控制的基础上，设计了最优构形。姿态控制所需的目标值是在制导过程中确定的，包括三种类型：(I)水平面横向运动测量；(Ii)垂直平面恒高海底测量；(Iii)垂直和横向运动测量。在姿态控制和制导过程中均采用了模糊算法。通过基于缆索和车辆的非线性运动方程的数值仿真，研究了车辆的制导和控制性能。

A new concept of guidance and control of underwater towed vehicle was proposed to perform operation in both vertical and horizontal axis with stable attitude.The control architecture of the vehicle has a hierarchical structure consisting of attitude control, guidance, navigation, path planning and communication. CCV (Control Configured Vehicle) technology was adopted to perform the attitude control for the decoupling of motion components. The optimum configuration was designed considering the stability and the decoupled attitude control. The target values necessary for the attitude control were determined in the guidance process having three types ,i.e. (i) lateral movement survey in horizontal plane, (ii) seabed survey in vertical plane with constant altitude,and (iii) vertical and lateral movement survey. Fuzzy algorithm was used both in the attitude control and in guidance process. The performance of guidance and control of the vehicle was investigated through numerical simulations based on nonlinear equations of motion of cable and vehicle.