Coordinate control of initiative mating device for autonomous underwater vehicle based on TDES

摘要

A novel initiative mating device, which has four 2-degree manipulators around the mating skirt, is proposed to mate between a skirt of AUV ( autonomons underwater vehicle) and a disabled submarine. The primary function of the device is to keep exact mating between skirt and disabled submarine in a badly sub sea environment. According to the characteristic of rescue, an automaton model is brought forward to describe the mating proceed between AUV and manipulators. The coordinated control is implemented by the TDES (time discrete event system). After taking into account the time problem, it is a useful method to control mating by simulation testing. The result shows that it reduces about 70 seconds after using intelligent co-ordinate control based on TDES through the whole mating procedure.