Non-cable self-control underwater navigation body hovering and controlling method

A technology of underwater vehicle and control method, applied in adaptive control, three-dimensional position/channel control, general control system and other directions, can solve problems such as inability to achieve hovering, and achieve the effect of ensuring accuracy

Inactive Publication Date: 2013-04-24
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to overcome the deficiency that the current cableless autonomous underwater vehicle cannot ho

Method used

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  • Non-cable self-control underwater navigation body hovering and controlling method
  • Non-cable self-control underwater navigation body hovering and controlling method
  • Non-cable self-control underwater navigation body hovering and controlling method

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Embodiment Construction

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples.

[0016] The bow and stern vertical slot thrusters are designed on the underwater vehicle. The bow and stern thrusters are exactly the same, and they are all composed of brushless DC motors and propellers. The power supply and speed of the brushless DC motors are controlled by the main control system. computer control.

[0017] A depth sensor and an electronic compass (including a pitch angle sensor) are installed on the underwater vehicle, and the main control computer collects the depth data of the depth sensor and the pitch angle data of the electronic compass through the serial port. The effect of controlling the depth data is also filtered by sorting the mean value.

[0018] The main control computer uses the C language under the real-time multi-user operating system to realize the control of the depth and pitch angle of the underwater vehicle,

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Abstract

The invention relates to a non-cable self-control underwater navigation body hovering and controlling method. The method includes the following steps: an underwater navigation body collects sensor information on the navigation body, enables collected depth values and collected trim angles to be used as a feedback signal after being filtered, a proportional plus integral plus derivative (PID) control way is used to achieve the control to the depth values and the trim angles and obtains control values; next, according to arrangement of a thruster, the control values are distributed and transmitted to vertical channel thrusts of a bow portion and a stern portion to achieve hovering control. By the adoption of the non-cable self-control underwater navigation body hovering and controlling method, the fact that a non-cable self-control underwater navigation body stably hovers in the set depth can be achieved, when the non-cable self-control underwater navigation body is in hovering, error of the depth of the underwater navigation body is less than +/-0.5 meters, variation ranges of the trim angles are less than +/- 10 degrees. The non-cable self-control underwater navigation body hovering and controlling method provides technical guarantee for the non-cable self-control underwater navigation body in completing smooth satellite positioning rectification under water.

Description

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Claims

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Application Information

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Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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