水下机器人主动对接装置的协调控制研究

水下机器人主动对接装置在对接裙外侧安装有4只两自由度对接机械手，其主要功能是在恶劣的海洋环境中能实现水下机器人与失事潜艇的准确对接，完成救生任务．为了实现自主作业，根据作业特点提出了将水下机器人与对接机械手的作业过程抽象成自动机模型的方法，应用离散事件系统理论实现4只机械手与水下机器人的协调控制．在此基础上，进一步介绍了赋时离散事件系统理论，并应用于水下机器人主动对接装置的协调控制中，解决了系统的时间性问题，使之成为切实可行的控制方法．

Research on the Coordinated Control of Active Mating Device for Underwater Vehicle

An active mating device is proposed, which has four two-degree-of-freedom manipulators around the mating skirt outer. The primary function of the device is to achieve exact mating between the underwater vehicle and the wrecked submarine under a badly subsea environment. To implement autonomous operation, according to the characteristics of ~rescue, a method is brought forward that describes the mating process between the underwater vehicle and the manipulators as an automaton model. Based on this, the timed discrete event system is introduced and applied to the coordinated control of the active mating device of underwater vehicle. After solving the time problem, it is a practical method to control mating.