Low velocity autonomous underwater vehicle (AUV) sailing control method based on contra-rotating propeller adding fin and rudder

A control method and technology of counter-rotating propellers, applied in three-dimensional position/channel control, adaptive control, general control system, etc., can solve problems such as difficult AUV navigation, poor maneuvering control ability, weak ability to resist external interference, etc., to achieve The effect of small calculation, convenient operation and simple logic

Inactive Publication Date: 2013-04-24
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

Under a certain rudder plate area and steering angle, this method has a strong maneuver control ability when the speed of the vehicle is high, but it has a poor maneuver control ability when th

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  • Low velocity autonomous underwater vehicle (AUV) sailing control method based on contra-rotating propeller adding fin and rudder
  • Low velocity autonomous underwater vehicle (AUV) sailing control method based on contra-rotating propeller adding fin and rudder
  • Low velocity autonomous underwater vehicle (AUV) sailing control method based on contra-rotating propeller adding fin and rudder

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Embodiment Construction

[0027] Contra-rotating propeller plus fin rudder AUV, the stern of the AUV is equipped with contra-rotating propellers and horizontal rudders and vertical rudders. The main feature of the counter-rotating propeller is its high propulsion efficiency, which can reliably perform the intended mission. It is achieved through the following technical solutions:

[0028] like figure 1 Shown is the flow chart of the dive program. First, accelerate the navigation according to the current heading, and periodically check the current speed. If the current speed reaches or exceeds the set speed value, then start diving, otherwise continue to accelerate the navigation according to the current heading.

[0029] In order to enable the AUV to dive reliably, it is necessary to maintain a certain relative speed between the AUV and the seawater before diving; secondly, to avoid losing control of the attitude during the dive; at the same time, the carrier’s pitch angle and forward speed should be ...

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Abstract

The invention provides a low velocity autonomous underwater vehicle (AUV) sailing control method based on a contra-rotating propeller adding fin and a rudder. A contra-rotating propeller and a diving rudder vertical rudder are installed at the position of a stern of an AUV carrier. In each control period, measuring of a trim angle, a course angle, trim angle angular velocity, a course angular velocity, depth and height is conducted, a controlling value is calculated, the angle values of a needed diving rudder angle and a needed vertical rudder angle are determined, a diving rudder motor and a vertical rudder motor are controlled, and so that a diving rudder plate and a vertical rudder plate are rotated to a target angle. The rotating speed of the contra-rotating propeller is determined, the contra-rotating propeller is enabled to achieve target rotating speed, and so that an AUV can sail stably. The low velocity AUV sailing control method based on the contra-rotating propeller adding fin and the rudder is simple in logic, small in calculated amount, and convenient to operate.

Description

technical field [0001] The invention relates to a low-speed AUV control method, in particular to a low-speed AUV navigation control method based on counter-rotating propellers and fin rudders. Background technique [0002] In the case of meeting certain maneuverability requirements, by reducing the number of thrusters and maintaining the smooth shape of the AUV, the purpose of reducing its sailing resistance is achieved. One of the common methods is to configure a contra-rotating propeller (referred to as counter-rotating propeller) at the stern of the AUV, and control the maneuverability of the AUV in the horizontal and vertical planes through the horizontal rudder and the vertical rudder. Under a certain rudder plate area and steering angle, this method has a strong maneuver control ability when the speed of the vehicle is high, but it has a poor maneuver control ability when the speed is low. Due to the many interference factors in the ocean, the ability to resist extern...

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Application Information

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IPC IPC(8): G05B13/04G05D1/10
Inventor 于闯刘健林扬郑荣徐会希刘爱民刘铁军
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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