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A gliding heading control method of a manta ray-like underwater vehicle based on flapping wing bias

A technology for underwater vehicle and heading control, which is applied in two-dimensional position/channel control, vehicle position/route/height control, underwater ships and other directions, and can solve problems such as poor steering maneuverability, easy failure, and loud noise , to achieve the effect of stable posture and strong adaptability

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, practical problems such as low efficiency, high noise, poor steering maneuverability and easy failure cannot be ignored.

Method used

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  • A gliding heading control method of a manta ray-like underwater vehicle based on flapping wing bias
  • A gliding heading control method of a manta ray-like underwater vehicle based on flapping wing bias
  • A gliding heading control method of a manta ray-like underwater vehicle based on flapping wing bias

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Embodiment Construction

[0032] The present invention will now be further described in conjunction with the embodiments and accompanying drawings:

[0033] To achieve the above tasks, the technical solution adopted in the present invention is to obtain the current azimuth angle information through the attitude sensor, use the fuzzy control to calculate the offset parameter, and then use the formula to calculate and output the pectoral fin control signal, so as to realize the bow glide with asymmetric left and right offset of the pectoral fin, and finally Realize the course control of the imitation manta ray vehicle in the gliding state, and its control system is shown in the figure below figure 1 shown, the specific steps are as follows:

[0034] Step 1: Calculate the heading deviation and the heading deviation change rate.

[0035] The current azimuth angle of the underwater vehicle obtained through the attitude sensor is x (clockwise is positive), and the reference heading set by the task is x d ,...

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Abstract

The invention relates to a gliding heading control method of a manta ray-like underwater vehicle based on flapping wing offset. The current azimuth angle information is obtained through an attitude sensor, the offset parameter is calculated by fuzzy control, and the pectoral fin control signal is output by formula calculation. The bow gliding with asymmetric left and right offset of pectoral fins is realized, and the course control of the manta ray-like vehicle in the gliding state is finally realized. The present invention is insensitive to the pectoral fin propulsion bionic underwater vehicle model, has strong adaptability, and can be used for bow gliding course control of any such type of craft; the present invention realizes course adjustment during gliding by controlling the left and right asymmetrical offset of the pectoral fins, so that the Under the premise of ensuring the response speed, the aircraft's attitude is more stable, and it can replace the traditional lead-type roll mechanism.

Description

technical field [0001] The invention belongs to the field of underwater vehicle motion control, and relates to a gliding course control method of a manta ray-like underwater vehicle based on flapping wing offset. Background technique [0002] Autonomous underwater vehicles (AUVs) have a wide range of military and civil applications and are an integral part of ocean exploration. Traditional AUVs use propellers for propulsion, which has the advantages of convenient installation, simple control, and easy replacement and maintenance. However, practical problems such as low efficiency, high noise, poor steering maneuverability and easy failure cannot be ignored. By imitating the propulsion mechanism of natural underwater creatures, the efficiency and maneuverability of underwater vehicles can be effectively improved, as well as reducing noise and enhancing the biological affinity of the vehicle. [0003] Typical bionic propulsion modes include body / caudal fin mode and pectoral ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02B63G8/20
CPCG05D1/0206B63G8/20
Inventor 曹勇谢钰马淑敏张代利郝艺伟
Owner NORTHWESTERN POLYTECHNICAL UNIV
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