"维修装置"智能综合操纵半实物仿真系统

介绍了“浅海海底管线电缆检测和维修装置”智能综合操纵和动力定位半实物仿真系统的组成、工作方式、人机交互显示、集中操纵的设计思想、装置的控制策略及对线控位仿真结果。该系统主要包括智能综合操纵和动力定位系统显控台、装置运动仿真机两大部分。目前智能综合操纵和动力定位显控台已经安装在“管线电缆检测与维修装置”上，装置在长江中已经进行完水面航行和潜浮控制试验，试验结果表明：系统运行可靠，人机界面形象直观，操纵灵活，大大减轻了操控人员的工作强度。

An Integrated Manipulating and Dynamic Positioning Simulation System for the Inspecting and Repairing Equipment on Shallow Sea

This paper describes an integrated manipulating and dynamic positioning simulation system for the inspecting and repairing equipment and its system integration, working mode, man-machine display, control policy and position and heading simulation result. The simulation system includes two main parts: manipulation station and simulation machine. The manipulation station has been assembled in the inspecting and repairing equipment and finished the surface and depth trial in the Yangtze River. The trial shows that the system is stable and the man-machine display is straight forward and the manipulation is easy, which alleviates the working intension of the working staff.