Four degrees of freedom (DOF) dynamic positioning device of deep submergence rescue vehicle (DSRV) and positioning control method
A dynamic positioning and lifeboat technology, applied in the field of deep submersible lifeboat dynamic positioning system, can solve the problems of no comprehensive display system, etc., and achieve the effect of convenient research and realization of simulation playback
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[0029] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0030] figure 1 The connection relationship between each part of the present invention has been described, the high-frequency short-baseline sonar 4 and the low-frequency short-baseline sonar 5 are connected with the data processing computer 3, the manipulation box 2 is connected with the comprehensive display computer 1, and the compass 8 is connected with the real-time control The computer 12 is connected, and the filtering, control and thrust distribution algorithm 6 is loaded to the real-time control computer 12, and the real-time control computer 12 is connected with the digital / analog conversion board 7 through the PC104 bus, and the output of the digital / analog conversion board 7 is respectively connected to the two horizontal tanks. Road propeller 9, two vertical channel propellers 10, two main propellers 11 are connected, comprehensive display computer 1,...
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