Force feedback type closed-loop control underwater propeller

Abstract

The invention discloses a force feedback type closed-loop control underwater propeller, and the propeller comprises a shell; a controller and a brushless direct current motor are arranged in the shell, a transmission shaft of the brushless direct current motor penetrates out of one end of the shell to be used for fixing a propeller located on the outer side of the shell, and a flow guide cover is installed outside blades of the propeller; a Hall position sensor is mounted at a rotor of the brushless direct current motor; a thrust sensor is fixed to the shell, the thrust sensor and the Hall position sensor are both in communication connection with the controller, and after receiving a thrust control signal, the controller drives the brushless direct current motor to drive the transmission shaft to rotate and further drives the propeller to rotate to generate thrust. The force feedback type closed-loop control underwater propeller has the advantages of being accurate in thrust output, self-adaptive, resistant to interference, small in dependence on the whole, sensitive in response, reliable in work and the like, the adaptability to maritime work equipment such as various UUVs, ROVs, ships, drilling platforms and the like is good, and the integration and control difficulty with the control whole is reduced.

Description

technical field [0001] The invention relates to the field of underwater robot equipment, in particular to a force feedback type closed-loop control underwater propeller. Background technique [0002] In order to achieve high-precision pose control, underwater robots usually adopt multiple propeller vector layouts to generate control forces and moments on each degree of freedom. Traditionally, the propeller mostly adopts motor + propeller transmission mechanism and open-loop control mode. Due to the working characteristics of the propeller, it is easy to be affected by the structural layout of the propeller on the underwater robot, mutual interference between propellers, and sea currents in different directions. External environmental influences such as thrust loss caused by waves, thrust loss caused by waves, etc., lead to large differences in thrust generated at the same speed. At the same time, factors such as motor performance and manufacturing / assembly deviations lead t...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a force feedback type closed-loop control underwater thruster to solve the problem of large thrust output fluctuations under the same force control signal under flow field disturbances, poor consistency of the thrust of the same batch of thrusters caused by manufacturing / assembly deviations, etc. question

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