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Non-cable self-control underwater navigation body hovering and controlling method

A technology of underwater vehicle and control method, applied in adaptive control, three-dimensional position/channel control, general control system and other directions, can solve problems such as inability to achieve hovering, and achieve the effect of ensuring accuracy

Inactive Publication Date: 2013-04-24
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiency that the current cableless autonomous underwater vehicle cannot hover, the present invention provides a hovering control method for the cableless autonomous underwater vehicle

Method used

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  • Non-cable self-control underwater navigation body hovering and controlling method
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  • Non-cable self-control underwater navigation body hovering and controlling method

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Embodiment Construction

[0015] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples.

[0016] The bow and stern vertical slot thrusters are designed on the underwater vehicle. The bow and stern thrusters are exactly the same, and they are all composed of brushless DC motors and propellers. The power supply and speed of the brushless DC motors are controlled by the main control system. computer control.

[0017] A depth sensor and an electronic compass (including a pitch angle sensor) are installed on the underwater vehicle, and the main control computer collects the depth data of the depth sensor and the pitch angle data of the electronic compass through the serial port. The effect of controlling the depth data is also filtered by sorting the mean value.

[0018] The main control computer uses the C language under the real-time multi-user operating system to realize the control of the depth and pitch angle of the underwater vehicl...

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Abstract

The invention relates to a non-cable self-control underwater navigation body hovering and controlling method. The method includes the following steps: an underwater navigation body collects sensor information on the navigation body, enables collected depth values and collected trim angles to be used as a feedback signal after being filtered, a proportional plus integral plus derivative (PID) control way is used to achieve the control to the depth values and the trim angles and obtains control values; next, according to arrangement of a thruster, the control values are distributed and transmitted to vertical channel thrusts of a bow portion and a stern portion to achieve hovering control. By the adoption of the non-cable self-control underwater navigation body hovering and controlling method, the fact that a non-cable self-control underwater navigation body stably hovers in the set depth can be achieved, when the non-cable self-control underwater navigation body is in hovering, error of the depth of the underwater navigation body is less than + / -0.5 meters, variation ranges of the trim angles are less than + / - 10 degrees. The non-cable self-control underwater navigation body hovering and controlling method provides technical guarantee for the non-cable self-control underwater navigation body in completing smooth satellite positioning rectification under water.

Description

technical field [0001] The present invention relates to a hovering control method of a cableless autonomous underwater vehicle (AUV, Autonomous Underwater Vehicle), in particular to a control method for the cableless autonomous underwater vehicle to remain stationary relative to water flow and maintain a fixed depth underwater. The main control computer realizes the control of the depth and pitch angle of the underwater underwater vehicle by controlling the vertical slot propellers at the bow and stern, so that the underwater vehicle can be stably maintained at the set depth and stable attitude underwater. Background technique [0002] In the past, the autonomous underwater underwater vehicles realized satellite positioning and calibration by floating the underwater vehicles to the water surface, which could not guarantee the concealment of the underwater vehicles. body safety. In view of this, we have designed the underwater vehicle to realize the function of satellite pos...

Claims

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Application Information

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IPC IPC(8): G05D1/10G05B13/04
Inventor 刘健林扬郑荣于闯徐会希梁保强
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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