Underwater robot control method of rotatable rudder propeller
A technology of underwater robot and control method, which is applied in the direction of three-dimensional position/channel control, etc., can solve the problems of weak sensitivity and anti-interference, and achieve the effects of reduced performance, good robustness, and wide application range
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[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0029] The hardware requirement of the present invention is an AUV. The bow of the AUV is equipped with 2 horizontal rudders, and 2 propulsion motors are installed on the bow horizontal rudders; motor; configure a vertical rudder at the stern, such as figure 1 shown.
[0030] The AUV motion control method of the present invention comprises the following contents:
[0031] The role of speed control is to keep the AUV sailing at a specified forward speed. There are two types of speed control, one is speed open-loop control, which directly outputs and controls the axial thrust of the propeller without considering the speed feedback; the other is speed closed-loop control, which introduces speed feedback into the design of the speed controller. The linearity of speed control is relatively high, so the classical linear control method is adopted....
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