UUV underwater recycling control system and control method based on self-adaptation algorithm

An adaptive algorithm and underwater recovery technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of complex structure and interference of the autonomous recovery system

Inactive Publication Date: 2013-12-18
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the structure of the autonomous recovery system using robotic arms is complex and prone to more interference

Method used

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  • UUV underwater recycling control system and control method based on self-adaptation algorithm
  • UUV underwater recycling control system and control method based on self-adaptation algorithm
  • UUV underwater recycling control system and control method based on self-adaptation algorithm

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Embodiment Construction

[0025] The present invention is described in detail below in conjunction with accompanying drawing:

[0026] figure 1 Explain the relationship between the various parts in the present invention. In the UUV recovery self-adaptive control system, the water surface monitoring computer 1 and the dynamic control computer 3 are PCs, and the mission management computer 2 is a PC104 bus computer. They are all embedded with software and communicate with each other through a local area network. Communication, used for autonomous recovery of UUV adaptive control method; wherein UUV adaptive recovery control system 4 is embedded in mission management computer 2; visual sensor 5, short baseline positioning sonar 6, attitude sensor 7 and Doppler speedometer 8 through the serial port Communication, the collected data is transmitted to the dynamic control computer; the dynamic control computer 3 controls the main thruster 9 and the channel auxiliary thruster 10 through electrical signals;

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Abstract

The invention provides a UUV underwater recycling control system and control method based on a self-adaptation algorithm. The system comprises a water surface monitoring computer, a mission management computer, a dynamic control computer, a visual sensor, a short base line positioning sonar, a posture sensor, a Doppler speed testing instrument, a main propeller and a channel auxiliary propeller. Communication is carried out among the water surface monitoring computer, the mission management computer and the dynamic control computer through a network, a UUV self-adaptation recycling control system is embedded in the mission management computer, and the visual sensor, the short base line positioning sonar, the posture sensor and the Doppler speed testing instrument communicate through serial ports and send collected information to the dynamic control computer. The dynamic control computer controls the main propeller and the channel auxiliary propeller through electric signals. According to the system and method, a UUV can be safely and accurately recycled to a carrying platform of an underwater work station.

Description

technical field [0001] The invention relates to an autonomous recovery control system for UUV returning to an underwater work station. The invention relates to an autonomous recovery control method for a UUV to return to an underwater workstation. Background technique [0002] Due to the constraints of mission requirements and self-contained energy, the time for UUV to work underwater is limited, and it must be recovered to replenish energy, upload data, download instructions, and maintain guarantees. Due to the concealment and safety requirements of the underwater recovery platform's activity range, it is required that the UUV recovery process must realize the autonomous return of the UUV to the carrying platform on the underwater workstation without the use of third-party auxiliary equipment. UUV autonomous underwater recovery is not only limited by time and space, but also saves a lot of auxiliary equipment and manpower. Nonlinear motion control, etc. [0003] Consider...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/02
Inventor 张伟徐达严浙平边信黔李本银周佳加
Owner HARBIN ENG UNIV
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