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A method of reducing roll and pitch of auv by using its own horizontal rudder

A horizontal rudder and horizontal direction technology, applied to underwater ships, geometric CAD, transportation and packaging, etc., can solve problems affecting the normal operation and safety of underwater vehicles

Active Publication Date: 2021-02-19
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These disturbances seriously affect the normal work and safety of underwater vehicles

Method used

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  • A method of reducing roll and pitch of auv by using its own horizontal rudder
  • A method of reducing roll and pitch of auv by using its own horizontal rudder
  • A method of reducing roll and pitch of auv by using its own horizontal rudder

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Embodiment Construction

[0040] The present invention will be described in more detail below in conjunction with the accompanying drawings and accompanying tables.

[0041] A method for reducing rolling and pitching of an AUV by using a self-contained horizontal rudder, comprising the following steps:

[0042] Step 1: Calculate the lift of the horizontal rudder.

[0043] Step 2: Taking the AUV with horizontal rudders as the research model, analyze the stress and anti-rolling methods of the four horizontal rudders fin1, fin2, fin3, and fin4.

[0044] Step 3: Based on the above analysis, mathematically model the rolling and pitching motions of the AUV, and establish the righting moments of rolling and pitching;

[0045] The lift of the horizontal rudder in step 1 is specifically:

[0046] The resultant force of the horizontal rudder can be expressed as follows:

[0047]

[0048] When the angle between the horizontal rudder and the horizontal direction is α(t), the lift force L(t) in the vertical d...

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Abstract

The invention belongs to the field of underwater robot navigation control, and in particular relates to a method for reducing roll and pitch of an AUV by using a built-in horizontal rudder. The horizontal rudder based on the working principle of the fin stabilizer at zero speed can realize active stabilization of roll and pitch motions at low speeds. The present invention first takes the AUV with horizontal rudder as the research object, establishes the lift model of the horizontal rudder, then analyzes the force and motion of the four horizontal rudders in one cycle when the AUV produces roll and pitch motions, and calculates The righting moment of the rolling and pitching motion of the AUV, and then according to the movement of the horizontal rudder during the period when the AUV produces a rolling motion or a pitching motion, combine the interference force received by the AUV with the righting moment generated by the horizontal rudder A method of reducing roll and pitch by using the horizontal rudder is presented. The invention effectively improves the anti-interference ability of the underwater vehicle.

Description

technical field [0001] The invention belongs to the field of underwater robot navigation control, and in particular relates to a method for reducing roll and pitch of an AUV by using a built-in horizontal rudder. Background technique [0002] When underwater vehicles sail near the water surface at low speed, they will produce violent rolling, pitching, and heaving motions due to the influence of waves, sea winds, and currents. These disturbances seriously affect the normal work and safety of underwater vehicles. In order to improve the anti-interference ability of the underwater vehicle, it is proposed to use the horizontal rudder of the underwater vehicle itself to reduce the rolling and pitching motion of the underwater vehicle. And in-depth research on the stress of the AUV's own horizontal rudder in the case of encountering sea wave interference, and thus established a method to reduce the roll and pitch of the AUV based on the internal horizontal rudder. Contents of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63G8/18G06F30/15G06F119/14
CPCB63G8/18
Inventor 綦志刚李冰孙伟星陈缘李洋洋潘建明
Owner HARBIN ENG UNIV