Propulsion system for deep-sea autonomous robot

Abstract

The invention discloses a propulsion system for a deep-sea autonomous robot, which belongs to the technical field of special devices for ships and comprises the following steps: acquiring water pressure data, ocean current speed and direction data to obtain deep-sea environment parameters; a pressure compensation instruction is generated according to the water pressure data, and an isolation oil film is formed at a propeller main shaft by executing the pressure compensation instruction; a real-time vibration signal of the propulsion system is collected, and a vibration suppression instruction is generated based on the deviation between the real-time vibration signal and a preset attitude reference; generating a thrust distribution instruction according to the ocean current speed and direction data in combination with the amplitude parameter of the vibration suppression instruction; and each duct propeller is driven to output directional thrust according to the thrust distribution instruction. According to the invention, double-conical-surface dynamic sealing, anti-phase vibration suppression, vector matrix distribution and redundant thrust reconstruction technologies are adopted, reliable sealing and stable propulsion can be realized in a myriameter-level deep pressure environment, the service life of equipment is synchronously prolonged, and the fault-tolerant capability of the equipment is synchronously improved.

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