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Emergent motion control apparatus for manned submersible vehicle

A technology for motion control devices and manned submersibles. It is applied in transportation and packaging, computer control, and general control systems. It can solve problems such as small space, inability to work, and high humidity. It achieves simple circuit design, improved safety, and low cost effect

Inactive Publication Date: 2008-07-16
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The manned cabin is the inner space of the manned spherical shell. Its space is narrow. In addition to the driver and scientists, there are also control equipment such as computers and instruments and scientific research equipment in the cabin. The humidity in the cabin is very high, and the environmental conditions are relatively relatively high. The task of the computer system used for navigation control is also relatively heavy. Although various measures have been taken, there are still emergencies such as abnormal computer operation or even inability to work, which will lead to loss of control over the movement operation of the submersible , this will not only threaten the safety of the submersible itself, but more importantly, threaten the lives of the pilots and scientists in the manned cabin. It is conceivable that the consequences will be unimaginable

Method used

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  • Emergent motion control apparatus for manned submersible vehicle
  • Emergent motion control apparatus for manned submersible vehicle
  • Emergent motion control apparatus for manned submersible vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] The invention includes two parts: a single-rod switching circuit and an emergency motion control circuit. The single-rod switching circuit decomposes the single-rod signal into a three-degree-of-freedom emergency path and a computer path; the emergency motion control circuit converts the three-degree-of-freedom control signal from the single-rod switching circuit Carry out equal-amplitude amplification, linear superposition, and distribute the thrust of the control signal, adjust the thrust distribution coefficient of the three degrees of freedom and the positive and negative thrust characteristics of the propeller through the potentiometer in the emergency motion control circuit, and finally switch the emergency through the relay The control signal and the computer control signal are processed separately, and finally the emergency motion control of the three-degree-of-freedom of the submersible is realized.

[0024] figure 1 , 2 It is a front view and a top view of a ...

Embodiment 2

[0034] The difference from Embodiment 1 is that in order to prevent the emergency motion control circuit from outputting an uncertain control signal during the switching process of the 3rd to 5th relays K3 to K5, resulting in an uncontrolled motion of the submersible, the equal-amplitude amplification Add three resistors to the signal input end of the circuit (11th to 13th resistors R11 to R13).

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Abstract

The invention discloses a manned submersible vehicle emergency motion control device, which consists of single-rod switching circuit and emergency motion control circuit, wherein the single-rod switching circuit decomposes the single-rod signal into three freedom degrees emergency channel and computer channel; the emergency motion control circuit receives the three freedom degrees control signal to do constant amplitude enlargement and linear superposition, which proceeds propulsion allocation of control signal. The device disposes the emergency control signal and computer control signal separately through relay switch according to the potentiometer adjustment of three freedom degree propulsion allocation coefficient and propeller positive and negative propulsion character in the emergency motion control circuit, which realizes the three freedom degree emergency motion control of submarine at last.

Description

technical field [0001] The invention relates to the motion control technology of an underwater robot, specifically an emergency motion control of three degrees of freedom of a manned submersible realized in a pure hardware manner. technical background [0002] A manned submersible is a device that carries scientists, engineers, various electronic devices, and special equipment to quickly and accurately reach various deep-sea complex environments for efficient exploration, scientific investigation, and development operations. It is an important technical means for human beings to realize the development and utilization of the deep sea, and it is one of the frontiers of today's deep sea high-tech development. [0003] The movement of the manned submersible is generated by 7 thrusters arranged on the submersible, including 1 thruster at the bow, 2 thrusters at the midship (one left and one right), and 4 thrusters at the stern (horizontal left, right and vertical thrusters). up...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B15/00B63G8/14
Inventor 郭威王晓辉
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI