Intelligent Underwater Towed System

提出了一种新的水下拖曳体制导与控制概念，该水下拖曳体的控制体系结构由姿态控制、制导、导航、路径规划和通信等部分组成。采用CCV（Control Configured Vehicle）技术对运动部件进行解耦，实现姿态控制。在考虑稳定性和姿态解耦控制的基础上，设计了最优构型。姿态控制所需的目标值是在具有三种类型的引导过程中确定的，即（i）水平面中的横向运动测量，（ii）具有恒定高度的垂直平面中的海底测量，以及（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控制算法。基于缆索和载体的非线性运动方程，通过数值仿真研究了载体的制导与控制性能。

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.