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从硬件和软件两方面详细论述了深潜救生艇试验载体的位姿控制系统体系结构.针对深潜救生艇在对接过程中对倾角能力的特殊要求,引入压载水舱和泵阀系统进行纵横倾调节,通过控制泵、阀的开关时间控制试验载体纵横倾的大小,使试验载体的纵横倾能力分别达到了30°和15°.为了解决试验载体在大倾角定位过程中的推力分配问题,将控制器解算得到的力(矩)转移到随体坐标系下进行分析,简化了推力分配的复杂程度.最后通过水池试验验证了整个位姿控制系统的可行性和可靠性,并对系统有待完善的地方给出了一些改进建议.
The system architecture of the position and attitude control system of the submarine lifeboat test carrier is discussed in detail from both the hardware and software aspects.According to the special requirements of the submarine lifeboat in the docking process, the ballast tank and the pump valve system are introduced , By controlling the pump and valve switching time control the size of the longitudinal and transverse test carrier, so that the longitudinal and transverse test capability of the carrier reached 30 ° and 15 ° respectively.In order to solve the test carrier thrust positioning in the process of large tilt angle, the control The force (moment) obtained by the solution is transferred to the satellite coordinate system for analysis, which simplifies the complexity of the thrust distribution.Finally, the feasibility and reliability of the whole position and attitude control system are verified through the pool test, and the system needs to be improved Some suggestions for improvement are given.