Fuzzy Depth Control of Small Cylindrical Object Navigating Near Free-surface

摘要：

Small cylindrical object navigating near free-surface is subject to wave disturbance. Wave disturbance can dramatically influence the depth control of the near-surface navigating object. A self-regulating fuzzy depth control method is proposed to keep the small cylindrical object navigate at the expected depth under free-surface disturbance. The near-surface dynamic model of the cylindrical object is presented and the fuzzy depth control method is modeled. The results obtained by a series of hardware-in-loop simulations demonstrate that the self-tuning fuzzy depth control method is valid to keep the small cylindrical object navigate steadily in the expected depth under free-surface disturbances.

关键词： depth control free-surface wave disturbance hardware-in-loop simulation

作者: Shao zhiyu Chen yun Fang dongyang Feng shunshan

作者单位: State Key Laboratory of Explosion Science and Technology, Beijing Institute of Technology, Beijing 1 School of Mechatronical Engineering,Beijing Institute of Technology, Beijing 100081

会议类型: 国际会议

会议名称: 4th International Conference on Measuring Technology and Mechatronics Automation(第四届检测技术与机电自动化国际会议 ICMTMA 2012)

会议地点: 三亚

会议语种:英文

页码: 886-889

在线出版日期: 2012-01-06（万方平台首次上网日期，不代表论文的发表时间）