深海潜标布放运动与定深控制策略研究

摘要

深海潜标是一种海洋环境监测平台，具有多元化的海洋科学研究能力。本文针对一种可实现自动分离、锚泊的一体化潜标，开展布放运动与定深控制研究。建立潜标水中整体和分离运动的模型，其中考虑了刹车的过渡过程；提出 bang-bang控制定深策略。仿真结果表明，潜标分离后可以自动布放至海底锚泊，同时将上段平台定深至某一深度。%The submerged buoy is a kind of platform for ocean/marine environment survey; it can be used for sea scientific research. The laying method of common submerged buoy is complicated and time-consuming. Aiming at a incorporate submerged buoy which can separate and moor automatically, this paper study the laying motion and depth control of platform. Firstly, the model of motion is established considering the transition process. Secondly, the bang-bang control method of depth control is presented and simulation has been completed. The result of simulation shows that the submerged buoy can separate and moor automatically and control the upper platform to appointed deep.