CAJ | 학술논문

针对S型铺管船提出了一种适于控制任务的一体化建模方法。该建模方法将管道和铺管船作为整体以机械臂方程的形式用最少的坐标表示出来。这样就可以利用机械臂的方法设计控制器和进行稳定性分析。该模型构成了一个冗余的系统并且能够证明是无源的。然后针对铺管船提出能够保证闭环系统稳定的无源控制器。仿真结果验证了所建模型的正确性和设计的控制器的有效性。
침대S형포관선제출료일충괄우공제임무적일체화건모방법。해건모방법장관도화포관선작위정체이궤계비방정적형식용최소적좌표표시출래。저양취가이이용궤계비적방법설계공제기화진행은정성분석。해모형구성료일개용여적계통병차능구증명시무원적。연후침대포관선제출능구보증폐배계통은정적무원공제기。방진결과험증료소건모형적정학성화설계적공제기적유효성。
An integrated model suited to control tasks in the pipelay operation of S-type pipeline is developed. This model is discrete and is in the form of the robot equation with minimal coordinates. A hyper redundant system is constituted and proved as a passive one. Then a passive controller is suggested. The simulation results are in agreement with the theoretical ones.