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Main control system of duct unmanned underwater vehicle with single-rotor and control method thereof

A technology of unmanned aerial vehicle and main control system, which is applied in the direction of underwater ships, underwater operation equipment, ships, etc., can solve the problems of large turning radius, low control efficiency of underwater vehicles, and difficulty in realizing effective navigation, etc., to achieve The effect of making up for the lack of mobility

Pending Publication Date: 2018-08-21
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a main control system and control method of a single-rotor ducted underwater unmanned vehicle, which is used to solve the problem of low efficiency of direction control and large radius of gyration of current underwater vehicles under low-speed navigation conditions. Difficulty in navigating efficiently in narrow waters

Method used

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  • Main control system of duct unmanned underwater vehicle with single-rotor and control method thereof
  • Main control system of duct unmanned underwater vehicle with single-rotor and control method thereof
  • Main control system of duct unmanned underwater vehicle with single-rotor and control method thereof

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Embodiment 1

[0028] refer to figure 1 , the main control system 4 of a single-rotor ducted underwater unmanned vehicle disclosed in this embodiment includes: a main controller 41, a motor controller 42, a steering gear controller 43 and a remote control receiver 44, and the remote control receiver 44 The pairing is provided with a remote controller 45 and receives the remote control command signal from the remote controller 45, the main controller control command signal output end of the remote control receiver 44 is connected to the control command signal receiving end of the main controller 41, and the motor of the main controller 41 The control command signal output end is connected to the motor control command signal input end of the motor controller 42, the steering gear control command signal output end of the main controller 41 is connected to the steering gear control command signal input end of the steering gear controller 43, and the motor controller The motor control command sig...

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Abstract

The invention discloses a main control system of a duct unmanned underwater vehicle with a single-rotor and a control method thereof. The main control system comprises a main controller, a motor controller, a steering engine controller and a remote control receiver. A multi-steering engine deflector control mode is adopted to generate multiple control forces and control moments, so that the unmanned underwater vehicle has very high maneuverability and great flexibility. In addition, the characteristics of zero turning radius and quick buoyancy lift of the unmanned underwater vehicle are realized by utilizing control on a first X rudder steering engine and a second X rudder steering engine. The main control system can be widely applied to detection operation of narrow water areas and shallow water areas and overcomes the defect of poor maneuverability of an existing large-scale underwater vehicle.

Description

technical field [0001] The invention relates to the technical field of underwater unmanned aircraft, in particular to a main control system and a control method of a single-rotor ducted underwater unmanned aircraft. Background technique [0002] At present, most of the existing underwater vehicles adopt the design of horizontal rolling body, use the rear or middle propulsion structure of the propeller, and use the rudder to steer. Cavitation effect, loud noise, large volume, slow response to low-speed control, large turning radius, and obvious flight paths are difficult to overcome. Especially in narrow waters, it is difficult to achieve effective navigation, and the rudder is easy to touch in shallow waters. [0003] In the field of aviation, the current horizontal built-in ducted aircraft has strong environmental adaptability and maneuverability advantages. In view of the shortcomings of traditional underwater vehicles, combined with the technical advantages of ducted ai...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/00
CPCB63G8/001B63G2008/005
Inventor 祝恒宇王超刘佳炜宋强林卢子寅
Owner NORTHWESTERN POLYTECHNICAL UNIV