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SARV光纤收放装置的控制系统设计与实现
Alternative TitleThe Development and Implement of Control System of MFOC Deployment for SARV
任申真; 封锡盛; 李硕
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2007
Volume23Issue:20Pages:207-209
Indexed ByCSCD
CSCD IDCSCD:3139468
Contribution Rank1
Funding Organization中国科学院创新基金(03F6060601)
Keyword光纤微缆 Sarv 系统辨识 单神经元自适应pid控制器 恒张力控制
Abstract根据小型自治遥控水下机器人SARV的运动特性,研制了光纤微缆收放的控制系统。设计使用了嵌入式QNX软件开发技术,系统稳定可靠。采用系统辨识的方法,获得被控对象的等效数学模型。采用单神经元自适应PID控制器对控制参数进行在线自调节,实现了SARV在水中运动时光纤收放的恒张力控制,满足光纤收放装置的设计要求。
Other AbstractOn the basis of kinetic characteristic of SARV(Small Autonomous Remotely Vehicle), the scheme gives out the control sys-tem of MFOC(micro-fiber optical cable) deployment. The system uses the software development technology of embedded QNX, which is steady and reliable; get the equivalent model of plant by adopting the method of system identification. Using the self-tuning single neuron PID controller, the system realizes the constant tension control for MFOC when SARV motions in water, meets the perfor-mance of MFOC deployment.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3546
Collection水下机器人研究室
Corresponding Author任申真
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
任申真,封锡盛,李硕. SARV光纤收放装置的控制系统设计与实现[J]. 微计算机信息,2007,23(20):207-209.
APA 任申真,封锡盛,&李硕.(2007).SARV光纤收放装置的控制系统设计与实现.微计算机信息,23(20),207-209.
MLA 任申真,et al."SARV光纤收放装置的控制系统设计与实现".微计算机信息 23.20(2007):207-209.
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