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Unmanned underwater vehicle autonomous recovery control system and control method thereof

A technology of control system and main control system, applied in the direction of control/regulation system, height or depth control, non-electric variable control, etc., can solve problems such as disturbance, low recovery efficiency, troublesome underwater vehicle recovery, etc., and achieve improvement Convergence speed, reduce jitter phenomenon, reduce the effect of mechanical wear

Active Publication Date: 2021-06-11
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Constrained by energy sources, underwater vehicles cannot work for a long time. Whenever the energy source falls below a certain range, the mother ship needs to recycle it
Nowadays, there are many recovery methods, but there are common problems such as complex design of recovery mechanism and low recovery efficiency, which will undoubtedly bring a lot of trouble to the recovery work of underwater vehicles
In addition, the underwater environment is complex and changeable, accompanied by ocean currents and ocean current disturbances from time to time, which brings many uncertainties to the recovery of submersibles

Method used

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  • Unmanned underwater vehicle autonomous recovery control system and control method thereof
  • Unmanned underwater vehicle autonomous recovery control system and control method thereof
  • Unmanned underwater vehicle autonomous recovery control system and control method thereof

Examples

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Embodiment 1

[0081] An autonomous recovery control system for an unmanned underwater vehicle, the schematic diagram of its logic flow is as follows: figure 1 As shown, including catamaran unmanned ship main control system, catamaran unmanned ship motion control system, submersible vehicle autonomous recovery control system, unmanned submersible vehicle motion control system; catamaran unmanned ship main control system is used to receive recovery instructions , and transmit the recovery command to the catamaran unmanned ship motion control system; the catamaran unmanned ship motion control system completes the dynamic positioning of the catamaran unmanned ship according to the recovery command, and feeds back the command to complete the dynamic positioning to the catamaran The main control system of the unmanned ship; the main control system of the catamaran unmanned ship sends a recovery and descent command to the autonomous recovery control system of the submersible according to the feedba...

Embodiment 2

[0140] A control method for the autonomous recovery control system of the unmanned underwater vehicle of embodiment 1, comprising the following steps:

[0141] Step 1. The main control system of the catamaran unmanned ship accepts the recovery command issued by the user, and transmits the recovery command to the motion control system of the catamaran unmanned ship. After receiving the recovery command, the catamaran unmanned ship motion control system The dynamic positioning of the catamaran is controlled by the environment, and the command to complete the dynamic positioning is fed back to the main control system of the catamaran unmanned ship;

[0142] Step 2. The main control system of the catamaran unmanned ship sends a recovery and descent command to the autonomous recovery control system of the submersible. The position information of the preparation point is sent to the motion control system of the UUV;

[0143] Step 3: The UUV motion control system plans the expected ...

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Abstract

The invention discloses an unmanned underwater vehicle autonomous recovery control system and a control method thereof and belongs to the technical field of unmanned ships. The unmanned underwater vehicle autonomous recovery control system comprises a double-body unmanned ship main control system, a double-body unmanned ship motion control system, an underwater vehicle autonomous recovery control system and an unmanned underwater vehicle motion control system, wherein the catamaran unmanned ship motion control system comprises a ship robustness controller; the unmanned underwater vehicle motion control system comprises an L1 self-adaptive controller; by designing the ship robustness controller and the L1 adaptive controller, platform stability of the catamaran in the optimal course is ensured, and high-precision motion control of the unmanned underwater vehicle in the recovery process is realized; and meanwhile, the autonomous recovery control system designed by the invention can effectively suppress high-frequency oscillation in signals, is insensitive to impact interference, can significantly improve the response speed and precision of the recovery control system, and greatly improves recovery efficiency and the success rate of the underwater vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned boats, in particular to an autonomous recovery control system and a control method for an unmanned underwater vehicle. Background technique [0002] Unmanned submersibles are unmanned, remote control or automatic control devices that navigate underwater. They mainly refer to intelligent systems that replace divers or manned small submarines for deep-sea exploration, lifesaving, and mine removal. . As human beings pay more and more attention to marine resources, all kinds of marine robot technologies have developed vigorously in recent years. Among them, underwater vehicles rely on their excellent underwater reconnaissance and detection capabilities, which has attracted great attention. Constrained by energy, the underwater vehicle cannot work for a long time. Whenever the energy falls below a certain range, the mother ship needs to recover it. Nowadays, there are many ways to recover, but there...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 王曰英陈汇资吴乃龙周卫祥成敏杜鑫付俊解相朋姜斌罗均汪小帆杨希祥严怀成
Owner SHANGHAI UNIV
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