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《Ship Engineering》 2003-02
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Study of Method for Heading and Positioning Control in Inspection and Maintenance of Submarine Pipeline in Shallow Sea

Chang Zonghu,Shi Xiaocheng,Bian Xinqian and Jiang Xiupeng  
In inspection and maintenance of submarine pipeline in the shallow sea,it is necessary to make heading and positioning of inspection and maintenance equipment above the underwater pipeline,so that,the equipment can be lowered down to the sea bed and the repair cabin driven into the earth and ridden on the pipeline to work on it.It is required that the deviation of the repair equipment's central line from the central line of the pipeline to be repaired is not more than 0.3m.In this paper,a fuzzy VSS controller is discussed and used to control heading and positioning.The controller can eliminate chattering that is often encountered in a conventional controller and improve heading and positioning precision.Finally,simulation results of the controller are given.
【CateGory Index】: U675.9
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