Research on underwater control technology of deep-sea towing system
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摘要:
深海拖曳系统是人类开发利用海洋的一项重要手段。在众多深海探测装备中，深海拖曳系统以探测面积广、作业效率高、操控性能好等优势而得到了广泛应用。针对深海拖曳系统水下控制技术，从控制手段和控制策略2个方面对其发展历程、国内外研究现状等进行梳理，分析对比不同控制手段的优缺点，并对深海拖曳系统水下控制技术未来的研究方向进行展望，以期为深海拖曳系统的应用与发展提供参考。
Abstract:The deep-sea towing system is an important mean for mankind to develop and utilize the ocean. Among many types of deep-sea detection equipment, the deep-sea towing system has been widely used due to its advantages such as wide detection area, high operation efficiency, and good control performance. Aiming at the underwater control technology of deep-sea towing system, its development history and research status at home and abroad in two aspects: control means and control strategy were summarized and the advantages and disadvantages of different control means were analyzed and compared, and in the future research direction on the underwater control technology of deep-sea towing system was prospected, which will provide references for the application and development of deep-sea towing system.
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Key words:
- deep-sea towing system /
- underwater control technology /
- control means /
- control strategy
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表 1 深海拖曳系统不同水下控制手段对比
Table 1. The comparison of different underwater control means of underwater towed systems
水下控制手段 文献 应用与提升 优缺点 拖缆控制手段 收放拖缆 人工收放 [19] 简单有效 简单有效，深度调节作用显著；
无法精确调控拖曳深度与拖曳姿态，控制精度低（能实现数米内的升沉波动）水下拖曳升沉补偿系统 [20-22] 自适应调节拖曳深度 加装导流装置 [23] 有效降低拖缆阻力与拖缆抖动 拖体控制手段 被动控制手段 安装固定水翼 [18,30,31-35] 加装流线型翼板 技术简单，
调节能力有限，可靠性与准确性低（能实现数米内的升沉波动）[36] 加装双三角翼型翼板 主动控制手段 调节迫沉水翼攻角或加装推进器 [39] * 推进器−辅助推进
液压装置−驱动水翼转动调控较为精确可靠，可实现一定波动范围内的定高或定深拖曳；
成本高，控制时滞性较高，
需要复杂的控制机构和控制策略[40] * 电机-链条-链轮组件−驱动水翼转动 [41] * 纵倾调节滑块−调节拖体重心位置 [42] * 螺杆机构−调节拖体重心位置 [60] * 内部机构−调节拖体重心 [43] ^ 调节迫沉水翼攻角−定深拖曳；
水平尾翼−调节纵倾角[44-45] ^ 深度、横摇、转向等多自由度控制 [47] ^ 多自由度可操纵水下控制 二级拖曳系统 被动控制手段 安装固定水翼 [56-59] 良好的运动稳定性 姿态稳定性高（正常海况下，横摇和纵摇角度可≤1°，横摇和纵摇周期可≤5 s，升沉量可≤0.15 m）；
成本高，布放回收困难，系统复杂主动控制手段 调节迫沉水翼攻角 [40] 电机驱动尾翼调节拖体俯仰角 注：标记*的解释为仅能调节单一拖曳自由度；标注^的解释为能够调节多个拖曳自由度。 
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