Study of Deep Submergence Rescue Vehicle for Automatic Mating Technology

A new DSRV (deep submergence rescue vehicle) for automatic mating simulated tester named BSAV-II is investigated. The overall design is presented including the layout of equipments inside the vehicle and on the skirt. Hybrid system theory is applied to design the supervisory control in order to detect the errors of position and posture in or out of thresholds, which solves the automatic mating problem of wreck submarine with a large incline in a poor sea state. The upper mathematical models for mating and bottom control were designed in detail. The validity and feasibility of automatic mating control system design for the simulated tester are validated by the tank test.