Thrust allocation method and device for miniature underwater robot vector layout thruster

Abstract

The invention relates to a thrust allocation method and device for a miniature underwater robot vector layout thruster. The method comprises the following steps of: taking a thrust allocation energy consumption matrix of the vector layout thruster as a basis for calculating thrust; calculating a thrust allocation result with the minimum energy consumption through a extreme value theory; removing abnormal data through a peak value removal method and obtaining a control voltage for the thruster in a normal range; and converting the allocation result obtained through calculating into an actual control voltage by a thrust / voltage conversion method. The device comprises a control signal generation unit, a microcontroller and a voltage output unit; the control signal generation unit generates a voltage control signal and outputs the voltage control signal to the microcontroller; the microcontroller processes the voltage control signal, generates an actual voltage control signal, and outputs the actual voltage control signal to the voltage output unit; and the voltage output unit applies the actual voltage control signal to the robot vector layout thruster. With the adoption of the thrust allocation method and device for the miniature underwater robot vector layout thruster, the safe operation of a system is ensured, and the energy consumption of the system can be effectively lowered under the condition that the control effect is ensured.

Description

technical field [0001] The invention relates to an underwater robot thruster control technology, in particular to a thrust distribution method and device for a micro underwater robot vector arrangement thruster. Background technique [0002] The micro underwater machine has its own energy, and energy cannot be replenished during one launch, so how to efficiently use the limited energy is an important indicator of the comprehensive ability of the underwater robot. Among the energy-consuming components, the propeller is undoubtedly the tallest component, and the thruster enables the micro ROV to generate forward momentum. At present, the vector arrangement of thrusters is widely used, and this arrangement method can obtain the most degrees of freedom with the least number of thrusters. The scientific and reasonable thruster propulsion separation algorithm can give full play to the advantages of distributing the propulsion charge, which not only improves the power, but also sa...

AI Technical Summary

Problems solved by technology

Energy saving is very important for micro-ROVs with their own batteries. The existing technology often ignores the energy-saving factors of micro-ROV propellers; micro-ROV propellers have low power and low rated voltage. It is easy to cause damage to the propeller

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