A Suspension Depth Control System for Underwater Vehicle

A technology for underwater vehicles and vehicles, which is applied in the direction of controllers and electric controllers with specific characteristics, can solve problems such as multi-energy sources and unfavorable long-term operation of underwater vehicles.

Active Publication Date: 2018-07-31
710TH RES INST OF CHINA SHIPBUILDING IND CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method consumes more energy, which is not conducive to underwater vehicles working for a long time underwater

Method used

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  • A Suspension Depth Control System for Underwater Vehicle
  • A Suspension Depth Control System for Underwater Vehicle
  • A Suspension Depth Control System for Underwater Vehicle

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Embodiment Construction

[0016] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0017] The invention provides a suspended depth control system for an underwater vehicle, such as figure 1 Shown: including the first subtractor, the depth controller, the second subtractor, the speed controller and the aircraft connected in sequence; the output end of the aircraft model is connected with a depth sensor; the output end of the depth sensor is connected with the first subtractor respectively The input end of the speed calculation module is connected to the input end of the speed calculation module; the output end of the speed calculation module is connected to the input end of the second subtractor;

[0018] The depth sensor is used to detect the current depth h of the aircraft; and send it to the input end of the first subtractor;

[0019] The first subtractor is used to calculate the difference between the set target depth H and the curre...

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PUM

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Abstract

The invention discloses a suspension depth-fixing control system of an underwater vehicle. The invention adopts double-loop control on the depth and vertical speed of the aircraft respectively by performing double-loop control on the depth and speed of the aircraft. The speed control loop is to control the vertical speed of the aircraft to prevent the vertical speed of the aircraft from being too high to cause the depth control of the aircraft to be out of control, and the depth control loop is to realize the depth control of the aircraft. The use of double-loop control can achieve the purpose of controlling the depth of the aircraft, and at the same time meet the operating needs of the aircraft on the basis of less energy consumption.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle control, in particular to a suspended depth-fixing control system for an underwater vehicle. Background technique [0002] At present, there are three ways to control the suspension depth of underwater vehicles: one is to increase or decrease the applied external force; the other is to change the volume of the vehicle without changing the mass; the third is to change the mass of the vehicle without changing the volume. [0003] In practical applications, the first method is often used to realize the fixed depth control of the aircraft, and the propeller is rotated through the forward and reverse rotation of the motor to generate thrust, so as to realize the suspended depth control of the underwater vehicle. However, this method consumes more energy, which is unfavorable for underwater vehicles to work underwater for a long time. Contents of the invention [0004] In view of this, the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 卢海洋胡庆玉周俊武雷石生龙石小红
Owner 710TH RES INST OF CHINA SHIPBUILDING IND CORP
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