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Full-degree-of-freedom attitude control method and system for underwater autonomous underwater vehicle

An attitude control and submersible technology, applied in the directions of underwater ships, underwater operation equipment, instruments, etc., can solve the problems of small turning radius, unable to freely change the route, etc., to reduce the turning radius, make full use of space, and have a compact structure design Effect

Active Publication Date: 2021-10-22
HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] Aiming at the above defects, the present invention provides a real full-degree-of-freedom movement ability, which can well solve the situation that the course cannot be changed freely due to space limitations, and has higher control ability and accuracy than propeller propellers. ;In shallow water areas, compared with the propeller structure, this system has a smaller radius of gyration, which greatly improves the flexibility of the equipment, and the full degree of freedom attitude of the underwater autonomous submersible for the accessibility of various areas Control method and system

Method used

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  • Full-degree-of-freedom attitude control method and system for underwater autonomous underwater vehicle
  • Full-degree-of-freedom attitude control method and system for underwater autonomous underwater vehicle
  • Full-degree-of-freedom attitude control method and system for underwater autonomous underwater vehicle

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Embodiment 1

[0070] A kind of underwater autonomous submersible vehicle (AUV) full-degree-of-freedom attitude control method provided in this embodiment, such as Figure 1-2 As shown, the submersible includes 8 nozzles U1, R1, D1, L1, U2, R2, D2, and L2. The 8 nozzles are two pairs of nozzles located on the left and right sides of the water inlet and two pairs located at the rear of the system. Nozzle pairs; the two nozzle pairs on the left and right sides of the water inlet are the first nozzle pair and the third nozzle pair, and the two nozzle pairs at the rear of the system are the second nozzle pair and the fourth nozzle pair;

[0071] Nozzle pairs include upward or downward vertical nozzles, and left or right horizontal nozzles. Each nozzle pair forms a resultant force in space; specifically, the first nozzle pair includes the front right nozzle R1 and the front upper nozzle. Nozzle U1, the second nozzle pair includes the front nozzle L1 and the front lower nozzle D1, the third nozzle...

Embodiment 2

[0117] like figure 1 , Figure 4 , Figure 5 As shown, the underwater autonomous submersible full-degree-of-freedom attitude control system using the control method provided by Embodiment 1 provided in this embodiment, the system includes an integrated control box, a water inlet, and eight water outlet nozzles. The integrated control The box is located in the middle of the cabin of the submersible, and the integrated control box includes a central control circuit, a sensor detection unit, an IO interface and a high-pressure water pump. like Image 6 As shown, the system provided by this embodiment is mainly used to execute the steering control command issued by the submersible, the system realizes the analysis and control of the driving command of the action, and the information feedback transmission, etc.; the sensor detection unit is mainly responsible for the hydraulic pressure detection of the pressure pump of the system , Leakage safety detection, abnormal system opera...

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Abstract

The invention provides a full-degree-of-freedom attitude control method and system for an underwater autonomous underwater vehicle, the underwater vehicle comprises eight nozzles, and the eight nozzles are two nozzle pairs located on the left side and the right side of a water inlet respectively and two nozzle pairs located on the rear part of the system; an AUV central processing unit converts coordinates under an earth fixed coordinate system into coordinates under a fuselage fixed frame coordinate system through a conversion matrix, further constructs a kinetic model of four nozzle pairs, and then updates coordinate information of the underwater vehicle collected by an attitude sensor in real time by constructing a direct cosine matrix of the conversion matrix. Therefore, combined motion of various attitude actions is realized, full-degree-of-freedom motion capability in a real sense is realized, the problem that a route cannot be freely changed due to space limitation can be well solved, and in a shallow water area, a smaller gyration radius is realized, the flexibility of the equipment is greatly improved, the accessibility of the equipment to various areas can be effectively improved, and the working efficiency is improved.

Description

technical field [0001] The invention belongs to the technical field of underwater autonomous submersibles, and in particular relates to a full-degree-of-freedom attitude control method and system for underwater autonomous submersibles. Background technique [0002] At present, the attitude adjustment of underwater autonomous underwater vehicle (AUV) mainly includes the following types: [0003] (1) Control the attitude through the steering servo at the tail; [0004] (2) Adjust the attitude by installing two or more propellers symmetrically on both sides; [0005] (3) Attitude and direction control is achieved by setting one or more hole-through holes in the horizontal and vertical directions on the AUV fuselage and built-in propeller propellers; [0006] The disadvantages and deficiencies of the underwater autonomous underwater vehicle (AUV) among the prior art are as follows: [0007] (1) The volume of the propeller propeller is relatively large, and multiple propellers...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63G8/16G06F30/15G06F30/28
CPCB63G8/16G06F30/15G06F30/28G06F2113/08G06F2119/14
Inventor 吕冰冰陈路梁尔冰杨睿陈新
Owner HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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