Field experiments in the control of a Jellyfish tracking ROV
Field experiments in the control of a Jellyfish tracking ROV
复制标题
水母跟踪 ROV 控制的现场实验
DOI：
10.1109/oceans.2002.1191944
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
S. Rock
中科院分区：
文献类型：
--
作者：
J. Rife;S. Rock
继续进行的海洋实验展示了水母跟踪ROV导航辅助系统增强科学数据收集的具体应用。最近的研究结果一再证明，追踪器能够长时间跟踪果冻目标，最长可达34分钟。到目前为止，果冻跟踪器的实验演示已经纳入了线性控制律。本文提出了对控制律的扩展，使两种新功能成为可能。第一个扩展补偿稳定的ROV干扰。第二次扩展赋予飞行员在果冻跟踪监管法的零空间中的全部权力。偏置补偿的作用是使人操纵平稳过渡到人机联合控制，并为跟踪过程中发出的补充操纵命令建立一个明确的零参考。使用调节器零空间使飞行员能够从多个角度观察目标。
Continuing ocean experiments demonstrate specific applications in which a jelly-tracking ROV pilot assist enhances collection of scientific data. Recent results have repeatedly demonstrated the tracker's ability to follow a jelly target for extended periods, as long as 34 minutes. Thus far, experimental demonstrations of the jelly tracker have incorporated a linear control law. This paper presents extensions to the control law that enable two new capabilities. The first extension compensates for steady ROV disturbances. The second extension gives pilots full authority in the null space of the jelly tracking regulation law. Bias compensation serves to smooth transition from human pilot to combined computer-human control and to establish a clear zero reference for supplementary pilot commands issued during tracking. Use of the regulator null space enables the pilots to view the target from multiple angles.