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Self-watch control method of power buoy

A control method and buoy technology, which are applied in two-dimensional position/channel control, buoys, motor vehicles, etc., can solve problems such as changes in operating positions, and achieve the effects of improving positioning accuracy, strong practicability, and prolonging effective action time.

Active Publication Date: 2017-07-07
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a self-defense position control method of a powered buoy for the problem that the sonar buoy is easily affected by waves and currents in the process of offshore operation, so that the working position changes

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  • Self-watch control method of power buoy
  • Self-watch control method of power buoy
  • Self-watch control method of power buoy

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Embodiment Construction

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0043] The present invention obtains the current speed of the buoy, the approximate heading angle, and the distance and azimuth of the buoy from the position-keeping point through the calculation of the GPS information. According to these information, the heading and speed controllers are respectively designed, and the output of the two controllers is passed through the thrust The distribution algorithm translates to thrust for the three thrusters. When the distance between the buoy and the guard point exceeds the set value, the buoy will automatically drive back to the guard point by controlling the drive of the propeller. It realizes keeping the buoy in the set guard area, and prevents the buoy from drifting away from the operation area under the influence of ocean currents and waves.

[0044] The GPS information is calculated as f...

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Abstract

The invention provides a self-watch control method of a power buoy. The current speed of the buoy, a course angle of the buoy and the distance and the orientation between the buoy and a watching point are obtained through calculation of GPS information, an orientation controller and a speed controller are designed correspondingly according to the above information, and the output of the two controllers is converted to the thrust of three propellers through the thrust distribution algorithm. When the distance between the buoy and the watching point exceeds a set value, the buoy can automatically return to the watching point. According to the self-watch control method of the power buoy, keeping the buoy in a set watching area is achieved, and the buoy is prevented from drifting away from the working area by influence of ocean currents and waves.

Description

technical field [0001] The invention relates to a self-defense control method of a dynamic buoy, which belongs to the field of dynamic positioning. Background technique [0002] At present, when positioning and tracking underwater targets, the main method is to deploy sonar buoys at fixed points in a certain formation, and use the underwater acoustic positioning method to locate the target and solve the motion elements. Due to the large randomness of the deployment time, most of the existing sonar buoys are unpowered floating buoys, which makes the buoys vulnerable to the influence of wind, waves and water currents and deviate from the target point during fixed-point operations, resulting in poor positioning of underwater targets. The consequences of poor accuracy or even inability to locate. When used in a shallow sea environment, the buoy can be stabilized at the target position by dropping the anchor hook under the buoy, but this method will fail in deep sea. Therefore ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B22/16G05D1/02
CPCB63B22/16G05D1/02
Inventor 徐健田国强严浙平管凤旭张宏瀚朱凤晴
Owner HARBIN ENG UNIV