A full degree of freedom attitude control method and system for an underwater autonomous submersible
An attitude control and submersible technology, applied in the directions of underwater ships, underwater operation equipment, instruments, etc., can solve the problems of not being able to freely change the route, small turning radius, etc., to make full use of space, reduce turning radius, and compact structure design Effect
Active Publication Date: 2022-05-31
HUNAN GUOTIAN ELECTRONICS TECH CO LTD
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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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Embodiment 1
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[0095] During the downward translation, the drive control module of this attitude control system controls the front upper nozzle U1.
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[0110] S41: For small-angle rotation, sinφ approaches φ, sinθ approaches θ, and sinψ approaches ψ, by ignoring the angular
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Embodiment 2
[0118] It is possible to realize that the AUV device has independent water spray operability in the up, down, left, and right directions, so that it can be easily
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The invention provides a full-degree-of-freedom attitude control method and system for an underwater autonomous submersible. The submersible includes 8 nozzles, and the 8 nozzles are two pairs of nozzles located on the left and right sides of the water inlet and a nozzle located at the rear of the system. Two pairs of nozzle pairs; the AUV central processor converts the coordinates in the fixed coordinate system of the earth to the coordinates in the fixed frame coordinate system of the fuselage through the transformation matrix, and further constructs the dynamic model of the four nozzle pairs, and then constructs the transformation matrix The direct cosine matrix, and then update the coordinate information of the submarine collected by the attitude sensor in real time, and then realize the combined movement of various attitude actions. If the route cannot be changed freely, in shallow water areas, it has a smaller turning radius, which greatly improves the flexibility of the equipment, can effectively improve the accessibility of the equipment to various areas, and improve work efficiency.
Description
A full-degree-of-freedom attitude control method and system for an underwater autonomous submersible technical field The invention belongs to underwater autonomous submersible technical field, be specifically related to a kind of underwater autonomous submersible full freedom Attitude control method and system. Background technique At present, underwater autonomous underwater vehicle (AUV) underwater movement attitude adjustment mainly includes following several: (1) control attitude by the steering steering gear of tail; (2) adjust attitude by symmetrically installing two or more propellers on both sides; (3) by setting one or more perforated holes in horizontal and vertical directions in the AUV body and built-in propeller pusher Inverter to achieve attitude and direction control; The shortcoming and deficiency of underwater autonomous underwater vehicle (AUV) among the prior art are as follows: (1) propeller-type propeller is larger in volume, and a pluralit...
Claims
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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