Large depth unmanned submersible and depth composite control method thereof

Abstract

The invention provides a large-depth unmanned submersible and a depth compound control method thereof. The large-depth unmanned submersible comprises a submersible main body, a stern main propeller arranged on the stern of the submersible main body, a stem horizontal tail arranged on the stem of the submersible main body and a stein horizontal tail arranged on the stern of the submersible main body. The internal part of the submersible main body is provided with a buoyancy regulation water tank; the stern and the stem of the submersible main body are respectively provided with a stern vertical tunnel thruster and a stem vertical tunnel thruster, which are controlled by a PC / 104 computer embedded with a control core program inside a main control compression cabin. From the beginning with the water surface status, water is injected to the buoyancy regulation water tank; in the distance which is 50m far away from the predetermined depth, the ballast water inside the buoyancy regulation water tank is blown off; upward force is provided by the vertical tunnel thruster; when the sinking speed of the unmanned submersible slows down to less than 0.5 / ms, a fixed speed navigation status is entered; a longitudinal trim is controlled by means of the stern and the stem horizontal tail to ,further couple the axial movement to control precisely the depth.

Description

(1) Technical field [0001] The invention relates to a depth control method of a submersible, in particular to a motion control method of a large-depth unmanned submersible. (2) Background technology [0002] With the continuous advancement of science and technology, robot technology has developed by leaps and bounds. As an interdisciplinary field of shipbuilding, marine engineering, and robotics, large-depth unmanned submersibles have received extensive attention from all over the world. Large-depth unmanned submersibles can be widely used in seabed biological resource exploration, mineral resource sampling, seabed topographic survey, sunken object salvage, seismic and geothermal activity monitoring, marine environment monitoring, marine engineering maintenance, etc. After years of hard work by scholars from various countries, the motion control level of large-depth unmanned submersibles has been continuously improved. However, some problems have gradually been exposed in ...

AI Technical Summary

Problems solved by technology

However, some problems have gradually been exposed in the research and experiment: when only using net buoyancy adjustment devices (such as water tanks and oil tanks) during deep dives, the response of the actuators is slow, and large overshoots are prone to occur; Submerging to the channel propeller at a large depth consumes a lot of energy, which is not conducive to long-term stay and operation after entering the specified depth; the use of horizontal wings to adjust the pitch also requires the main propeller at the stern of the unmanned submersible to maintain axial movement. The energy consumed during the deep dive is also very large

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