A Platform Dynamic Balancing Method Based on Double-layer Floating Body

Abstract

The invention relates to a platform dynamic balance method based on a double-layer floating body. The technical feature is that two steps of rough trim and fine trim are adopted, and the floating body block is configured, and the method of disturbance verification trim is adopted, so that the underwater robot can be completed. Ensure stable movement during movements such as floating, diving, forward, backward, yaw, roll and pitch. The floating body configuration method enables the underwater robot to realize random balance, and enables the underwater robot to better adapt to pitch, yaw and roll motions at various angles in space. At the same time, the control system is simplified and the complexity of the system is reduced.

Description

A kind of platform dynamic balance method based on double-layer floating body Technical field The present invention belongs to the floating body configuration method of underwater robot, relate to a kind of platform dynamic balance based on double-layer floating body The method is especially suitable for the stability of the experimental body in any state. Background technique Underwater robot can float in water or walk on the seabed, has observation ability and uses manipulator or other An automatic device for underwater operations. It can be divided into manned underwater vehicles (Human Occupied Vehicle, referred to as called HOV), cable-controlled underwater robot (Remotely operated vehicle, referred to as ROV) and autonomous unmanned underwater robot (Autonomous Underwater Vehicle, referred to as AUV). The manned underwater robot is also called the manned submersible, and its volume is large, and the driver in the submersible controls the operation of the subme...

AI Technical Summary

Problems solved by technology

But it is larger and less flexible than an unmanned submersible; the untethered autonomous underwater vehicle (AUV) is free from the shackles of the tether,

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