大深度载人潜水器低速大漂角模糊滑模航向控制研究

通过模型试验测量大深度载人潜水器低速大漂角运动时所受到的非线性水动力。基于一种新的模糊滑模控制策略,为潜水器设计了鲁棒航向控制器。在不同的漂角子区间内分别设计局部镇定的滑模控制器,然后通过Takagi-Sugeno模糊推理系统将它们光滑连接,得到模糊滑模控制。仿真计算结果充分显示了该控制策略的有效性。     

Path Following Control of A Deep-Sea Manned Submersible Based upon NTSM

In this paper, a robust path following control law is proposed for a deep-sea manned submersible maneuvering along a predeterminated path. Developed in China, the submersible is underactuated in the horizontal plane in that it is actuated by two perpendicular thrusts in this plane. The advanced non-singular terminal sliding mode （NTSM） is implemented for the design of the path following controller, which can ensure the convergence of the motion system in finite time and improve its robustness against parametric uncertainties and environmental disturbances. In the process of controller design, the close-loop stability is considered and proved by Lyapunov＇ s stability theory. With the experimental data, numerical simulations are provided to verify the control law for path following of the deep-sea manned submersible.     

载人潜水器运行管理考核评价体系构建研究

为对载人潜水器运行管理工作进行科学考核评价,保障重大深海装备安全高效运行,文章以“蛟龙”号载人潜水器为例,分析研究了“蛟龙”号载人潜水器的运行管理特点,针对我国科技管理体制和“蛟龙”号载人潜水器的管理技术要求,在结合“蛟龙”号载人潜水器海试与试验性应用实际工作的基础上,建立了科学合理、具备可操作性的考核评价体系。通过在“蛟龙”号载人潜水器运行管理工作中的试应用,充分证明该体系建设方法的有效性,值得在载人无人潜水器等重大装备管理中推广应用。     

“蛟龙”号载人潜水器运行与保障信息管理系统设计与应用

2017年我国"蛟龙"号载人潜水器完成了为期5年的试验性应用,期间累计下潜100余次,形成和建立了科学完善的应用保障体系和专业的应用人才队伍。以"蛟龙"号试验性应用中运行与保障的实践经验为基础,针对其中设备与备品备件管理、运行作业管理、拆检总装管理、数据资料查询与利用等方面的重要需求,设计开发了一套"蛟龙"号载人潜水器运行与保障信息管理系统,通过信息化平台实现设备资源、作业成果以及经验积累传承之间的高效衔接与复用,最大限度地降低装备运行成本、提高作业效率、保障海上作业安全。文章提出的载人潜水器运维体系能够为我国其他行业或部门的载人潜水器、远程缆控机器人(ROV)、水下自治机器人(AUV)等重大海洋装备的运行与保障提供有益参考借鉴。     

Target Deployment and Retrieval Using JIAOLONG Manned Submersible in the Depth of 6600 m in Mariana Trench

China''s 7000 m manned submersible JIAOLONG carried out an exploration cruise at the Mariana Trench from June to July 2016. The submersible completed nine manned dives on the north and south area of the Mariana Trench from the depth of 5500 to 6700 m, to investigate the geological, biological and chemical characteristics in the hadal area. During the cruise, JIAOLONG deployed a gas-tight serial sampler to collect the water near the sea bottom regularly. Five days later, the sub located the sampler in another dive and retrieved it successfully from the same location, which is the first time that scientists and engineers finished the high accuracy in-situ deployment and retrieval using a manned submersible with Ultra-Short Base Line (USBL) positioning system at the depth more than 6600 m. In this task, we used not only the USBL system of the manned submersible but also a compound strategy, including five position marks, the sea floor terrain, the depth contour, and the heading of the sub. This paper introduces the compound strategy of the target deployment and retrieval with the practical diving experience of JIAOLONG, and provides a promising technique for other underwater vehicles such as manned submersible or Remote Operated Vehicle (ROV) under similar conditions.     

潜标式海洋探测仪控制系统及模块设计

基于CORTEX M4内核的STM32嵌入式系统,设计并实现了用于长期监测海洋地理环境参数(温度、盐度、湿度等)的潜标式海洋探测仪,给出了主控系统及各个模块的设计方案及选型,通过合理的功能分配,可靠的硬件设计和有效的软件实现,使探测仪具备低功耗、高可靠的特点。海试实验表明,主控系统实现了对探测仪的浮力调节、能源供电及应急处置等状态控制,通过在SOFAR声道工作,完成了对深海海洋要素的实时监测。     

高精度测深侧扫系统在载人潜水器中的应用

为提升"蛟龙号"载人潜水器海底综合探测能力,介绍一种采用多子阵海底自动检测—子空间拟合的信号参数估计技术的高精度测深侧扫声纳系统。该系统安装于载人潜水器的两侧,能够测量海底的微地形地貌以及海底和水中的目标,同时获得探测区域高分辨率的地形图和地貌图。通过介绍该高精度测深侧扫系统的工作原理、技术指标及系统组成,结合"蛟龙号"载人潜水器试验性应用航次获得的高分辨率地形地貌数据,对该系统在载人潜水器中的应用和海底地形地貌探测结果进行了分析和展望。     

深渊生物资源取样装备技术体系研究

针对深渊生物资源研究的需求，自主研发了用于全海深深度的深渊沉积物、水体和宏生物的保压取样装置，深渊沉积物保压转移装置，深渊微生物原位过滤及保存装置和高压培养高压酶学测定装置。在深海模拟环境验证了取样装置在万米深度下的工作性能。相关装置在“探索一号”科考船的TS15、TS21-1和TS21-2大洋科考航次中，搭载“奋斗者”号载人潜器、“2号”深渊着陆器、“原位实验”号着陆器于西菲律宾盆区和马里亚纳海沟进行了海上试验，成功获取了万米深度沉积物、水体和宏生物保压样品以及微生物原位过滤滤膜；成功进行了沉积物保压样品的保压转移试验。初步形成了深渊海域生物资源取样的装备技术体系，为深渊海底生物和基因资源开发，深渊生命过程等科学研究提供技术手段。     

深海探测技术研发和展望

深海探测是人类实现可持续发展的战略途径和重要手段。为加快我国开发利用深海资源的进程,文章系统梳理深海探测技术及其研发,分析关键性深海探测技术,并提出深海探测技术的发展趋势。研究结果表明:全球积极研发深海探测技术,主要包括载人潜水器等深海运载器探测技术,声学、光学、电磁学和热学等深海传感探测技术以及生物、海水和岩芯等深海取样探测技术;我国也取得一系列研究成果,但技术水平和产业化水平总体较落后;精确、可靠和高效深海探测的关键性技术主要包括深海光学通信技术、深海导航定位技术、深海动力能源技术和深海装备材料技术,亟须技术攻关;未来深海探测技术将向体系化、协同化和智能化方向发展。     

Submersible observations of an iceberg pit and scour on the Grand Banks of Newfoundland

An elongated sea bed depression (pit), 80 by 125 m and 10 m deep located on the Grand Banks of Newfoundland was identified on high resolution surficial geophysical survey lines and investigated using a manned submersible. The pit occurs at the termination of a long (greater than 3 km) iceberg scour, 1.5 m deep, and 80 m wide in 91 m of water. It is similar to other depressions in the region that indent the sea bed up to seven times deeper than the surrounding deepest iceberg furrows. The pit is interpreted to be the sea bed response to impact and loading by a rolling and grounding iceberg. The iceberg scour and pit appear to be of recent origin.     

Ocean bottom tiltmeter with acoustic data retrieval system implanted by a submersible

Sensitive Ocean Bottom Implanted Tiltmeters (OBITs) with a sophisticated data retrieval system have been developed in order to observe directly the subduction of oceanic lithosphere. The OBIT is the first long-term geophysical instrument which was designed to be deployed by a manned deep-sea submersible. When the OBIT is put on oceanic lithosphere which is bending and is about to subduct under a deep sea trench, the OBIT records the subduction by observing the tilt of the surface of the lithosphere. The OBIT system has a sensitivity of 10^-8 radian, which is enough to detect the ongoing subduction in months or years. The OBIT may give an answer to the question whether there are fluctuations in the subduction rate.Two OBITs were successfully deployed on a seaward slope of the Kuril Trench by the newly built French deep submersible, Nautile. The OBITs were installed on the northwest shoulder of Erimo seamount, at a depth of 3930 m, in the Kuril Trench. In order to attain stable long-term observations of crustal deformations, the sensing unit was cemented onto bare rock by mortar. We have not yet had an opportunity to recover the data.The life of the instruments is expected to be more than five years. An acoustic data transmission system has been developed for the OBIT data recovery. The stored data can be retrieved at any moment during the observation period, with no need to retrieve the instruments nor to interrupt the observation, by use of the acoustic system. The acoustic system has a high data transmission rate as well as extremely low power consumption. This will be the first long-term crustal deformation measurement on the sea floor.     

载人潜水器在深海科学考察中的应用研究进展

载人深潜技术是深海技术的前沿与制高点,也是深海科考最先进的技术手段之一。20世纪60年代以来,随着高新技术的发展,美国、法国、俄罗斯、日本等国在载人潜水器的研制和应用上取得了快速的发展,先后掌握了大深度载人深潜技术,具备了在复杂海况下进行水下作业的能力,实现了对深海和大洋洋底的现场观察、探测和取样等。目前,深海载人潜水器的考察范围已经遍及全球大陆坡深水区、洋中脊、海山、海沟和洋盆等海底区域,获得了大量的深海地质、地球物理、生物、化学和环境方面的信息或样品,取得了一批重大的发现和创新性的研究成果,推动了深海科学的发展。我国自主集成研制的"蛟龙"号载人潜水器顺利完成了7 000m级海试,并于2013年开始开展了试验性应用,取得了丰硕的科考成果。本文简要介绍了世界载人潜水器的发展现状及其在深海科学考察中的技术优势,综述了国内外载人潜水器在深海地质学、生物学和物理海洋学等领域中的应用情况。     

深海载人潜水器潜航员培养模式探究

为了加快建立深海载人潜水器潜航员体系,实现深海载人潜水器业务化运行,提高我国载人深潜科考作业水平,文章结合"深海进入、深海探测、深海开发"战略需要,分析研究了载人潜水器作业环境、作业需求和潜航员岗位要求。提出了能力、知识、技能三位一体化的培养模式和基于专家系统课程设置架构,实践表明该培养模式科学、严谨,极大地推动了"蛟龙"号载人潜水器潜航员队伍的培育,对未来我国深海载人潜水器潜航员培养具有重要的指导意义。结合培训的实际情况,让潜航员培养工作顺利开展,提出构建科学的管理体制、完善潜航员培养保障机制、建立系统的制度保障制度等建议。     

基于层次分析法的载人深潜器潜航员职业特征研究

以层次分析法理论为基础,对载人深潜器潜航员职业特征进行分层次建模,采用3个层次63个要素对潜航员职业特征进行描述,结合与潜航员相关的一线专家队伍调研数据,采用定性判断与定量计算相结合的手段得到各要素之间的重要性量化权重,客观地反映潜航员职业所需的能力、知识、技能等各个层次、各个要素之间的关系,为我国潜航员的科学选拔、科学培养、科学管理提供决策依据。     

载人潜水器在深海海洋测绘中的应用

介绍了载人潜水器的特点及其在深海海洋测绘中的重要作用,详细论述了美、法、日、俄等国的载人潜水器在深海海洋测绘中的应用现状,并对我国"蛟龙"号载人潜水器在深海海洋测绘中的应用进行了展望。     

Direct estimation of motion from sea floor images for automaticstation-keeping of submersible platforms

Maintaining a fixed position near the sea floor is a critical capability during the deployment of remotely operated or intelligent (autonomous) undersea vehicles in a variety of missions, including inspection and repair of undersea structures, data collection, and surveillance. We present an automatic optical station-keeping system for application to submersible vehicles in deep waters by exploiting the information in sea floor images. Readily measurable spatio-temporal image gradients are used to detect and compute the vehicle's translational and yaw motions using a direct motion vision technique. The vision system has been implemented on a Windows-NT Pentium platform, and the estimated positions and yaw angles are communicated via a serial link to the control system, running on a PC-386. Accurate station-keeping is demonstrated in experiments with a three-thruster floating vehicle in a 6-ft×12-ft×6-ft water tank     

一种基于视觉的水下机器人动力定位方法

以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。     

一种基于改进蚁群算法的载人潜水器全局路径规划

当前关于使用蚁群算法解决载人潜水器路径规划问题的研究,往往只注重路径的长度和算法收敛速度,容易忽略路径点与障碍物之间的距离和路径的平滑度等要素。载人潜水器过于靠近障碍物航行时容易产生碰撞;按照不平滑路径行驶时,频繁地转向会降低航行效率。为解决这些问题,受人工势场法启发,文中在蚁群算法的概率选择环节引入障碍物惩罚因子φ和转向惩罚因子ψ,对路径点的选择加以限制。仿真测试表明,相比于传统蚁群算法和Dijkstra算法,该算法规划的路径与障碍物之间保持安全距离且转向次数更少,因此载人潜水器按照此路径航行时,安全性和航行效率更高。     

动力定位系统的控制方程及模型试验

动力定位系统（ＤＰＳ）是开发深海的一种较为有效的海上开发系统。由于ＤＰＳ是一个较为复杂的系统,在进行模型试验时,每个Ｚ型螺旋桨都设有计算机芯片以及遥控装置,用以接收ＰＩＤ系统发出的指令,为模型试验的模拟也带来了一定困难。本文讨论了动力定位系统的数学模型,模型试验中推力的分配及控制方程和试验中的一些要求。     

Study on the Overload and Dwell-Fatigue Property of Titanium Alloy in Manned Deep Submersible

China Ocean Engineering - With the rapid development of ocean technology, the deep-sea manned submersible is regarded as a high-tech equipment for the exploration and exploitation of ocean...