一种快速机动水下无人航行器变深控制方法、系统及介质
By combining exhaustive algorithm and calibration table, the overshoot and oscillation problems of depth control of underwater unmanned vehicles in rapid maneuvering missions are solved, achieving efficient depth and attitude stabilization and improving mission efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA STATE SHIPBUILDING CORP LTD RESEARCH INSTITUTE 719
- Filing Date
- 2025-09-29
- Publication Date
- 2026-07-17
AI Technical Summary
Existing UUV depth control methods are prone to overshoot or oscillation in high-speed maneuvering missions, and the parameter tuning process of PID controllers is time-consuming and complex, making it difficult to meet the requirements of rapid response.
By employing an exhaustive algorithm and calibration table, and by setting the initial depth, target depth, and rotational speed information, a stable pitch value and the first rudder angle are recommended. Combining the exhaustive algorithm and the rudder angle combinations in the calibration table, rapid depth-changing control of the underwater unmanned vehicle is achieved.
It achieves a depth control accuracy of ±0.2 meters for underwater unmanned vehicles in rapid maneuvering missions, reducing the time consumption by more than 50%. The calibration table is applicable to missions at different speeds and depths, improving mission planning efficiency.
Smart Images
Figure CN121300422B_ABST