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中文摘要：
水下无人潜器（UUV）水下回收是一个复杂的过程，它既有连续动态又有离散事件。针对UUV多变量、非线性、强耦合的特点，在其回收过程中针对不同的状态，提出一种基于Petri网的协调控制方法。采用混杂系统理论来分析动态过程和设定离散事件，并运用Petri网技术对回收过程的动作细节进行划分，通过实时测量和判断，分析和监控回收状态，以达到实时控制的目的。水池试验验证了Petri网技术对复杂过程描述分析方面的优越性，并成功解决了UUV回收过程运动中的逻辑协调问题。
英文摘要：
Recovery process of UUV based on an underwater dock-platform is complex. There are both continuous dynamic events and discrete events in this process. With respect to multi-variable, nonlinear, strong and coupling characteristics of UUV, and its various states in the process of recovery, an ideal coordinated control method is proposed. Concept of hybrid system is applied to analyze dynamic process and define discrete events; technology of the pattern recognition is applied to recognize and classify abnormal data; technology of Petfi net is applied to deal with dynamic details in the recovery process. With the aid of real-time measurement and determination, real-time control in various states can be achieved. Logic coordination problem in recovery process of UUV is solved successfully in a tank test, and the superiority of Petri net is validated in describing and analyzing complex process.
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