CN105159313B - Nobody a kind of latent device actuation means and control method - Google Patents
Nobody a kind of latent device actuation means and control method Download PDFInfo
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- CN105159313B CN105159313B CN201510333157.0A CN201510333157A CN105159313B CN 105159313 B CN105159313 B CN 105159313B CN 201510333157 A CN201510333157 A CN 201510333157A CN 105159313 B CN105159313 B CN 105159313B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000002955 isolation Methods 0.000 claims abstract description 12
- 238000011217 control strategy Methods 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000009189 diving Effects 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- XOFYZVNMUHMLCC-ZPOLXVRWSA-N prednisone Chemical compound O=C1C=C[C@]2(C)[C@H]3C(=O)C[C@](C)([C@@](CC4)(O)C(=O)CO)[C@@H]4[C@@H]3CCC2=C1 XOFYZVNMUHMLCC-ZPOLXVRWSA-N 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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Abstract
The present invention is to provide nobody a kind of latent device actuation means and control method.Including two displays, industrial computer and manipulation unit.First display is used for display and operation interface and nobody current latent device manipulation instruction, and second display is used for the motion state and list display its status information of Three-dimensional Display nobody latent device.Second display is located above the first display, two displays are connected using video line with industrial computer, manipulation unit is connected by signal isolation plate with industrial computer, industrial computer is connected by mixed-media network modules mixed-media with nobody latent device, manipulation instruction is sent in real time, and obtains positional information and attitude information and fault message of nobody latent device etc..Nobody dive device manipulation during, automatically control and control two ways manually；It has the characteristics that brief and practical, manipulation is simple, cost is relatively low, the stability of a system is good, portability is high, solves the problems, such as the manipulation of nobody latent device, improves the operability and comfortableness of control system.
Description
Technical field
The present invention relates to nobody a kind of latent device actuation means, more particularly, to nobody a kind of latent device ground remote control
Device.The present invention also relates to nobody a kind of latent device control method.
Background technology
21 century, as the mankind constantly recognize ocean, utilization marine resources and the process for protecting ocean, nobody dives device
(Unmanned Underwater Vehicle) this new and high technology is developed rapidly, its be considered as successfully complete it is various
Subsea tasks star of hope.Nobody latent device is successfully applied to seafloor topography prospecting, marine resources and geologic survey, sea at present
In the tasks such as foreign environment and hydrologic parameter measurement, biology investigation.The equipment of nobody latent device installation, or it is unique, or
Fairly expensive, the data gathered during task are also highly important.Design and develop a set of reliable and stable, highly effective and safe
Nobody latent device control system be particularly important.
Current most of control systems are based only on software and realize the manipulation control of nobody latent device or simply add simple
Control crank, realize the manipulation and control of nobody latent device, these systems have that man-machine interaction is poor, stability is low, systemic
The features such as not strong.In conventional control system, nobody realizes according to the experience of operator completely in the operation of latent device under failure, no
The strength that can scientifically carry out completely under malfunction is retrieved, and operator's limited experience.So exploitation it is a set of have deal with
Accident, the strength that can nonserviceable are retrieved, that is, nobody the latent device actuation means for possessing intelligent anti-heavy ability have reality
Construction value.
The content of the invention
It is an object of the invention to propose that a kind of versatility is good, stability is high, be easily achieved, practical, cost is cheap
And nobody latent device actuation means with the anti-heavy ability of intelligence.The present invention also aims to provide nobody a kind of latent device controlling party
Method.
Nobody the latent device actuation means of the present invention include two displays, industrial computer, manipulation unit and mixed-media network modules mixed-media；First
Display is connected with industrial computer by HDMI connecting lines, for display and operation interface and nobody current latent device manipulation instruction；The
Two displays are connected by VGA screen lines with industrial computer, for Three-dimensional Display the motion state of nobody latent device and list display its
Status information；Industrial computer read manipulation unit operator manipulation instruction, by mixed-media network modules mixed-media send actuator command information to
Nobody dives device, while is shown in the first display；While nobody latent device receives actuator instruction, by the information of ship inner sensor
Industrial computer is sent to by network with each equipment working condition in ship, for carrying out the resolving or information input of next beat；
The manipulation unit is made up of button switch, single bi-colour LED, control stick and potentiometer, and manipulation unit passes through isolation signals plate
It is connected through USB interface, serial ports and DIO cards with industrial computer to obtain the function of operator's control command.
Nobody the latent device actuation means of the present invention can also include：
1st, into 106 ° of angles, second display is located at the top for second display and the first display, and manipulation unit is located at
Middle part, industrial computer and mixed-media network modules mixed-media are placed in cabinet.
2nd, the manipulation unit is mainly by instruction, button switch, 3 single shaft twocouese Hall type control sticks, speed current potentials
Device, trace ball and industrial digital keypad composition, indicator lamp have monochromatic burner and bi-colour light, and monochrome is used for display control mode, control
System strategy and current operation status, bi-colour light be used for display device whether normal work, button switch be used for equipment power supply, control
Mode processed selects the operation with control strategy selection etc., and control stick is used for the input of rudder angle, and speed potentiometer, which is used to input, to be promoted
The rotating speed input of device.
3rd, the isolation signals plate includes relay, serial port module, AD acquisition modules, insulating power supply and digital isolating chip
ADUM1401, control stick and potentiometer connect digital isolating chip ADUM1401 through serial port module, and single bi-colour LED is through relay
Device connects digital isolating chip ADUM1401.
Nobody latent device control method of the present invention, is mainly included the following steps that：
1) actuation means establish network connection with nobody latent device by mixed-media network modules mixed-media,
2) send instruction and realize nobody latent each task device power supply of device,
3) Unit selection control mode and control strategy are manipulated, inputs related manipulation instruction,
4) manipulate control module and actuator instruction generated according to manipulation instruction and nobody the latent device status information obtained,
5) actuator is sent by mixed-media network modules mixed-media instructing to nobody and dive device, nobody starts working at latent device,
6) repeat step 2) -5)；
Control mode includes automatically controlling with controlling manually in step 3), and the control manually is directly defeated from control unit
Enter control instruction, establish network connection through mixed-media network modules mixed-media and nobody latent device, be transmitted；Described automatically control is single according to manipulation
The target instruction target word of member input and nobody the latent device status information obtained, resolve to obtain real time exccutive instruction using control algolithm,
Transmit to nobody dive device motion；
The process of generation actuator instruction is broadly divided into three kinds in step 4), and actuator instructs when both controlling manually, automatically
Actuator instruction and intelligence anti-heavy actuator intelligence during control：
The acquisition of actuator instruction in industrial computer with signal isolation plate directly by directly obtaining when being controlled manually in step 4)
The actuator instruction of unit must be manipulated.
The process that actuator instruction is generated when being automatically controlled in step 4) is mainly that automatic control process and thrust were distributed
Journey, is controlled wherein automatically controlling using parameter adaptive S faces, and its S surface curve is as follows：
Wherein：
Y (t) is exports, zero dimension amount；
E and ee is deviation and deviation variation rate, normalized；
Ke and kv is deviation control parameter and deviation variation rate control parameter.
Wherein ke and kv can be dived according to nobody device basic parameter and automatically control target and chosen.Identical is controlled automatically
Target processed, nobody different latent utensils have different control parameters；Nobody same latent device, the different targets that automatically controls have not
Same control parameter.
Automatic control process in step 4), includes procedure below：
S01：According to the state and last moment change of error amount Δ e of nobody latent device of the desired value of setting and the moment, meter
Calculate deviation e this moment, if judging e in allowed band, keep this moment state it is constant, otherwise by last moment variation delta
E/t tries to achieve deviation variation rate ee this moment；
S02：E and ee carries out zero dimension：By e/emax、ee/eemaxZero dimension obtains e ', ee ', and by after zero dimension
The e ' and ee ' of gained, if ee ' ＞ 1, take ee '=1, if ee ' ＜ -1, takes ee '=- 1；
S03：According to control targe and nobody latent device basic parameters selection control parameter k1、k2；
S04：Controling power F ' is solved according to S surface curves；
S05：Control moment F ' there is into dimension FmaxF ' obtains F, and F is exported.
Wherein, FmaxFor Maximum controlling moment, e caused by one beat interior energy of control systemmax、eemaxTo be controlled in maximum
The maximum deviation that can change under power and caused maximum deviation rate of change；Thrust assigning process is obtained according in automatic control process
To control moment/power settle accounts to obtain actuator instruction, including propeller rotating speed, rudder angle, water tank pump valve switch；
In step 4) when damage failure occurs, intake in device cabin of diving, gravity causes improper dive more than buoyancy, now
The process of the anti-heavy generation actuator instruction of intelligence, mainly includes：
S06：When damage failure occurs, fault message is gathered；
S07：According to the fault message of collection, enter horizontal high voltage and blow down position selection and carry out anti-heavy policy selection；
S08：Selection in S07, carry out intelligent resolving；
S09：Thrust is distributed, generation actuator instruction.
Wherein, in step S07, when position and failure that the fault message that mainly gathers occurs for damage failure occur nobody
Depth information residing for latent device；
In step S08, the position that high pressure is blown down is mainly the position of damage, wherein the anti-heavy strategy of intelligence includes keeping current
Keel depth and immediately emergency ascent；
In step S08, it is the strategy in step S07 to automatically control resolving, solves controling power in a time beat
Square/power.
In step S09, actuator instruction caused by thrust distribution mainly includes car rudder information, i.e. propeller rotating speed and rudder
Angle, high pressure blow down information.
Nobody the latent device actuation means of the present invention mainly include two displays, industrial computer, manipulation unit and mixed-media network modules mixed-media.
First display, it is connected with industrial computer by a kind of HDMI (video connecting line) connecting line, for display and operation interface and currently
Nobody latent device manipulation instruction；Second display, it is connected by a kind of VGA (video connecting line) screen line with the industrial computer,
For Three-dimensional Display, the motion state of nobody latent device and list display its status information, realize the monitoring for device of being dived to nobody；It is described
Industrial computer reads the manipulation instruction of manipulation unit operator by built-in driver, and sending actuator by mixed-media network modules mixed-media refers to
Make information be dived device to nobody, realize the motion control of nobody latent device and the manipulation of task device, while show in manipulation display；
On the other hand, while nobody latent device receives actuator instruction, by each equipment working condition in the information of ship inner sensor and ship
Industrial computer is sent to by network, to carry out the resolving of next beat or information input；The manipulation unit is opened by button
The composition such as pass, single bi-colour LED, control stick and potentiometer, by isolation signals plate, through USB interface, serial ports and DIO cards and work
Control machine is connected to obtain the function of operator's control command.
Dived nobody latent device manipulation implementation method of device actuation means, can be implemented separately by manipulating unit button based on nobody
The selection of control mode and control strategy, it can also be implemented separately by built-in software, but both synchronizing information renewals.Nobody
Latent device motion in automatic control mode, using S faces Controlling model, handles nobody latent device with very strong non-linear well
Nonlinear problem.In implementation process, the anti-heavy module of intelligence is added, is adapted to effectively retrieve under damage malfunction.
With prior art compare the present invention there is following superiority：
1st, shown using two displays：One display and operation interface and nobody current latent device manipulation instruction, separately
The motion state of nobody latent device of one Three-dimensional Display and list display its status information, realize the monitoring for device of being dived to nobody.
2nd, there is the anti-heavy ability of intelligence, can effectively be retrieved under damage malfunction.
Versatility of the present invention is good, stability is high, be easily achieved, be practical, cost is cheap and resists heavy ability with intelligence.
Brief description of the drawings
Fig. 1 is nobody latent device actuation means hardware composition schematic diagram.
Fig. 2 is nobody latent device actuation means outside drawing.
Fig. 3 is manipulation cell schematics.
Fig. 4 is isolation signals plate operation principle schematic diagram.
Fig. 5 is that nobody latent device manipulates implementation flow chart.
Fig. 6 is Automatic Control Theory flow chart.
Fig. 7 is the anti-heavy schematic diagram of intelligence.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1, nobody latent device actuation means of the invention include two displays, industrial computer 3, manipulation unit and network
Module 5.First display 1, it is connected with industrial computer 3 by a kind of HDMI (video connecting line) connecting line, for display and operation circle
Face and nobody current latent device manipulation instruction；Second display 2, pass through a kind of VGA (video connecting line) screen lines and industrial computer 3
Connection, for Three-dimensional Display, the motion state of nobody latent device and list display its status information, realize the monitoring for device of being dived to nobody；
Industrial computer 3 reads the manipulation instruction of manipulation unit operator by built-in driver, and actuator is sent by mixed-media network modules mixed-media 5
Command information is dived device to nobody, realizes the motion control of nobody latent device and the manipulation of task device, while aobvious in the first display 1
Show；On the other hand, each equipment working condition in the information of ship inner sensor and ship is sent to industry control by nobody latent device by network
Machine 3, to carry out, the instruction of the actuator of next beat resolves or manipulation instruction inputs；Input equipment passes through isolation on manipulation unit
Signal plate 7 is connected through USB, serial ports and DIO cards with industrial computer 3, realizes that manipulation instruction obtains；In in mixed-media network modules mixed-media 5 and industrial computer 3
The network interface card put is connected, and realizes and establishes network connection with nobody latent device, is provided safeguard for data transfer.
With reference to Fig. 2, second display 2 is arranged in nobody latent device actuation means the top position, with the first display 1 into
106 ° of angles, manipulation unit is by 8 M6 screws and is tightly arranged in the middle part of nobody latent device actuation means, industrial computer and mixed-media network modules mixed-media
All it is built in nobody latent device actuation means bottom cabinet.
With reference to Fig. 3, the manipulation unit of nobody latent device actuation means of the invention is mainly by indicator lamp 4-1, button switch 4-
2nd, 3 single shaft twocouese Hall type control stick 4-3, speed potentiometer 4-4, trace ball 4-5 and industrial digital keypad 4-6 groups
Into.Indicator lamp has monochromatic burner and bi-colour light, and monochrome is used for display control mode, control strategy and current operation status, double-colored
Lamp be used for display device whether normal work；Button switch is used for equipment power supply, control mode selection and control strategy selection etc.
Operation；Control stick is mainly used in the input of rudder angle, and speed potentiometer is used for the rotating speed input for inputting propeller.Control therein
Mode is automatically controlled and controlled manually：Automatically control, i.e., according to the dbjective state of numeric keypad input and currently nobody is latent
The real-time status of device resolves to obtain actuator instruction；Control manually, i.e., directly pass through control stick, button switch, speed potentiometer
Actuator instruction is directly inputted Deng input equipment.Control strategy has steering strategy and water transfer strategy.
In order to ensure the signal stabilization in manipulation unit between each button, each indicator lamp, control stick and potentiometer etc., no
Interact and prevent because line short or abnormal signal cause capture card to damage, one piece of isolation letter is added in the present apparatus
Number plate 7；Its operation principle is as shown in figure 4, the isolation signals plate is mainly electric by relay, serial port module, AD acquisition modules, isolation
Source and digital isolating chip ADUM1401 compositions.
With reference to Fig. 5, implementation method is manipulated based on nobody described nobody latent device of latent device actuation means, mainly including following
Step：
1) actuation means establish network connection with nobody latent device by mixed-media network modules mixed-media；
2) send instruction and realize nobody latent each task device power supply of device；
3) Unit selection control mode and control strategy are manipulated, inputs related manipulation instruction；
4) manipulate control module and actuator instruction is generated according to manipulation instruction and nobody the latent device status information obtained；
5) actuator is sent by mixed-media network modules mixed-media instructed to nobody and dive device, nobody starts working at latent device；
6) repeat step 2) -5).
Wherein：
Nobody opens latent device as server priority in step 1), and actuation means access as client.
Control mode automatically controls and controls two kinds of control modes manually in step 2)：Control manually, directly from control
Unit inputs control instruction, establishes network connection through mixed-media network modules mixed-media and nobody latent device, is transmitted；Automatically control, according to manipulation
The target instruction target word of unit input and nobody the latent device status information (velocity information, posture information, acceleration information etc.) obtained, profit
Resolve to obtain real time exccutive with control algolithm to instruct, transmit to nobody and dive device motion.
The process of generation actuator instruction is broadly divided into three kinds in step 4), and actuator instructs when both controlling manually, automatically
Actuator instruction and intelligence anti-heavy actuator intelligence during control：
The acquisition of actuator instruction in industrial computer with signal isolation plate directly by directly obtaining when being controlled manually in step 4)
The actuator instruction of unit must be manipulated.
The process that actuator instruction is generated when being automatically controlled in step 4) is mainly that automatic control process and thrust were distributed
Journey, is controlled wherein automatically controlling using parameter adaptive S faces, and its S surface curve is as follows：
Wherein：
Y (t) is exports, zero dimension amount；
E and ee is deviation and deviation variation rate, normalized；
Ke and kv is deviation control parameter and deviation variation rate control parameter.
Wherein ke and kv can be dived according to nobody device basic parameter and automatically control target and chosen.Identical is controlled automatically
Target processed, nobody different latent utensils have different control parameters；Nobody same latent device, the different targets that automatically controls have not
Same control parameter.
Automatic control process in step 4), includes procedure below：
S01：According to the state and last moment change of error amount Δ e of nobody latent device of the desired value of setting and the moment, meter
Calculate deviation e this moment, if judging e in allowed band, keep this moment state it is constant, otherwise by last moment variation delta
E/t tries to achieve deviation variation rate ee this moment；
S02：E and ee carries out zero dimension：By e/emax、ee/eemaxZero dimension obtains e ', ee ', and by after zero dimension
The e ' and ee ' of gained, if ee ' ＞ 1, take ee '=1, if ee ' ＜ -1, takes ee '=- 1；
S03：According to control targe and nobody latent device basic parameters selection control parameter k1、k2；
S04：Controling power F ' is solved according to S surface curves；
S05：Control moment F ' there is into dimension FmaxF ' obtains F, and F is exported.
Wherein, FmaxFor Maximum controlling moment, e caused by one beat interior energy of control systemmax、eemaxTo be controlled in maximum
The maximum deviation that can change under power and caused maximum deviation rate of change；Thrust assigning process is obtained according in automatic control process
To control moment/power settle accounts to obtain actuator instruction, including propeller rotating speed, rudder angle, water tank pump valve switch；
In step 4) when damage failure occurs, intake in device cabin of diving, gravity causes improper dive more than buoyancy, now
Retrieved using anti-sink of intelligence, its operation principle is as shown in fig. 7, mainly include：
S05：When damage failure occurs, fault message is gathered；
S06：According to the fault message of collection, enter horizontal high voltage and blow down position selection and carry out anti-heavy policy selection；
S07：Selection in S06, carry out intelligent resolving；
S08：Thrust is distributed, generation actuator instruction.
Wherein, in step S05, when position and failure that the fault message that mainly gathers occurs for damage failure occur nobody
Depth information residing for latent device；
In step S06, the position that high pressure is blown down is mainly the position of damage, wherein the anti-heavy strategy of intelligence includes keeping current
Keel depth and immediately emergency ascent；
In step S07, it is the strategy in step S06 to automatically control resolving, solves controling power in a time beat
Square/power.
In step S08, actuator instruction caused by thrust distribution mainly includes car rudder information, i.e. propeller rotating speed and rudder
Angle, high pressure blow down information.
Above-described embodiment, the purpose of the present invention, technical scheme are further described, institute
It should be understood that the foregoing is only the specific implementation of the present invention, the present invention is not intended to limit, so the base based on the present invention
This thought and modify, replace, improve, belong to protection scope of the present invention.
Claims (4)
1. a kind of control method for device actuation means of being dived based on nobody, nobody the latent device actuation means include two displays,
Industrial computer, manipulation unit and mixed-media network modules mixed-media；First display is connected with industrial computer by HDMI connecting lines, for display and operation circle
Face and nobody current latent device manipulation instruction；Second display is connected by VGA screen lines with industrial computer, for Three-dimensional Display without
People dives the motion state and list display its status information of device；Industrial computer reads the manipulation instruction of manipulation unit operator, passes through
Mixed-media network modules mixed-media sends actuator command information and dived device to nobody, while is shown in manipulation display；Nobody receives actuator by latent device
While instruction, each equipment working condition in the information of ship inner sensor and ship is sent to industrial computer by network, be used for into
The resolving or information input of the next beat of row；The manipulation unit is by button switch, single bi-colour LED, control stick and current potential
Device is formed, and manipulation unit is connected by isolation signals plate through USB interface, serial ports and DIO cards with industrial computer to obtain operator behaviour
The function of vertical instruction, it is characterized in that：
1) actuation means establish network connection with nobody latent device by mixed-media network modules mixed-media,
2) send instruction and realize nobody latent each task device power supply of device,
3) Unit selection control mode and control strategy are manipulated, inputs related manipulation instruction, the control mode includes automatic control
System and control manually,
4) manipulate control module and actuator instruction generated according to manipulation instruction and nobody the latent device status information obtained,
5) actuator is sent by mixed-media network modules mixed-media instructing to nobody and dive device, nobody starts working at latent device,
6) repeat step 2) -5)；
When selection automatically controls in the step 3), in step 4) process of generation generation actuator instruction for automatic control process and
Thrust assigning process, automatic control process are reference adaptive S faces control process, are comprised the following steps：
S01：According to desired value and last moment state, deviation e and deviation variation rate ee is calculated；
S02：Calculate deviation e and deviation variation rate ee zero dimensions；
S03：According to control targe and nobody latent device basic parameters selection control parameter k1、k2；
S04：Solve control moment F '；
S05：Controling power F ' has dimension FmaxF ' obtains thrust F,
Wherein, FmaxFor Maximum controlling moment caused by one beat interior energy of water transfer control system；Thrust assigning process is according to certainly
Control moment/the power obtained in dynamic control process resolves to obtain actuator instruction, including propeller rotating speed, rudder angle, water tank pump valve
Switch；
When damage failure occurs, intake in device cabin of diving, gravity causes improper dive more than buoyancy, generation actuator instruction
Process is the anti-heavy process of intelligence, is mainly included：
S06：When damage failure occurs, fault message is gathered；
S07：According to the fault message of collection, enter horizontal high voltage and blow down position selection and carry out anti-heavy policy selection；
S08：Selection in S07, carry out the anti-heavy resolving of intelligence；
S09：Thrust is distributed, generation actuator instruction.
2. the control method of nobody latent device actuation means according to claim 1, it is characterized in that：In step S06, mainly adopt
The depth information when position and failure that the fault message integrated occurs as damage failure occur residing for nobody latent device.
3. the control method of nobody latent device actuation means according to claim 1, it is characterized in that：In step S07, high pressure is blown
The position removed is mainly the position of damage, wherein the anti-heavy strategy of intelligence includes keeping current flight depth and emergency ascent immediately.
4. the control method of nobody latent device actuation means according to claim 1, it is characterized in that：In step S09, thrust point
Mainly include car rudder information, i.e. propeller rotating speed and rudder angle with the instruction of caused actuator, high pressure blows down information.
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| CN106355811B (en) * | 2016-07-22 | 2019-05-14 | 河南城建学院 | A kind of electrical fire monitoring system |
| CN108706088A (en) * | 2018-04-28 | 2018-10-26 | 武汉市农业科学院 | A kind of auto-controlled multifunctional aquaculture operation ship |
| CN111160574B (en) * | 2018-10-19 | 2023-07-25 | 中国科学院沈阳自动化研究所 | Method for tracking whole operation and maintenance process equipment of deep sea detection equipment |
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| CN103935505A (en) * | 2014-03-06 | 2014-07-23 | 哈尔滨工程大学 | Portable hand-operated box of ship dynamic positioning system |
| CN103970144A (en) * | 2014-03-28 | 2014-08-06 | 哈尔滨工程大学 | Autonomous underwater robot water-surface control system |
| CN104867369A (en) * | 2015-05-29 | 2015-08-26 | 哈尔滨工程大学 | Movement simulating device and method of unmanned submersible vehicle |
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