Design of motion control system of pipeline detection AUV

作     者：JIANG Chun-meng WAN Lei SUN Yu-shan 姜春萌;万磊;孙玉山

作者机构：Science and Technology on Underwater Vehicle Laboratory Harbin Engineering University Harbin 150001 China 

基　　金：Project(2011AA09A106)supported by the Hi-tech Research and Development Program of China Project(51179035)supported by the National Natural Science Foundation of China Project(2015ZX01041101)supported by Major National Science and Technology of China 

出 版 物：《Journal of Central South University》 (中南大学学报（英文版）)

年 卷 期：2017年第24卷第3期

页      码：637-646页

摘      要：A great number of pipelines in China are in unsatisfactory condition and faced with problems of corrosion and cracking,but there are very few approaches for underwater pipeline *** detection autonomous underwater vehicle(PDAUV) is hereby designed to solve these problems when working with advanced optical,acoustical and electrical sensors for underwater pipeline *** is a test bed that not only examines the logical rationality of the program,effectiveness of the hardware architecture,accuracy of the software interface protocol as well as the reliability and stability of the control system but also verifies the effectiveness of the control system in tank experiments and sea *** motion control system of PDAUV,including both the hardware and software architectures,is introduced in this *** software module and information flow of the motion control system of PDAUV and a novel neural network-based control(NNC) are also ***,a real-time identification method based on neural network is used to realize system *** tank experiments and sea trials are carried out to verify the feasibility and capability of PDAUV control system to complete underwater pipeline detection task.

主 题 词：pipeline detection autonomous underwater vehicle (PDAUV) novel neural network-based control motion controlsystem embedded system architecture system identification 

学科分类：0810[工学-土木类] 0806[工学-电气类] 080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0703[理学-化学类] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1007/s11771-017.3464-2

馆 藏 号：203227984...