Underwater unmanned underwater vehicle attitude control simulation teaching aid

Abstract

A simulation teaching aid for attitude control of an underwater unmanned underwater vehicle belongs to the technical field of teaching aids, solves the problem of insufficient teaching experiment means for attitude control of the underwater unmanned underwater vehicle in the prior art, and adopts the technical scheme that the simulation teaching aid comprises a balancing weight, a balancing rod, a bracket and paddles, an inertial navigation protection box is fixedly mounted above the middle part of the balance rod; a laser pen groove and a laser pen are arranged at one end of the balance rod, and a sliding groove and a balancing weight are arranged on the balance rod close to one side of the laser pen groove. A bottom plate, a top plate, an internal supporting frame and a supporting arm are arranged at the other end of the balance rod, an electronic speed regulator is arranged at the root of the supporting arm, a relay is arranged in the middle of the supporting arm, a brushless motor is arranged at the end of the supporting arm, and a rotating shaft of the brushless motor is connected with rotating shafts of the paddles. According to the utility model, the stress condition of the body of the underwater unmanned underwater vehicle in water can be completely simulated, and the posture change of the body in water under the thrust action of the four propellers is highlighted.

Description

TECHNICAL FIELD

[0001] The utility model belongs to teaching aid technical field, specifically relates to a kind of underwater unmanned underwater vehicle attitude control simulation teaching aid. BACKGROUND

[0002] With the continuous deepening of underwater exploration and development, underwater unmanned underwater vehicle has become an important tool in the field of ocean exploration, resource development and scientific research. However, there are certain risks and costs in the actual operation of underwater unmanned underwater vehicle, so the teaching of underwater unmanned underwater vehicle attitude control depends more on theoretical explanation, and students are difficult to intuitively understand and master the principle of attitude control. Therefore, it is necessary to provide a simulation teaching aid to facilitate teaching and experiment in a safe and low-cost environment. UTILITY MODEL CONTENT

[0003] In view of the problem of insufficient underwater unmanned underwater vehicle attitude control teaching experiment means in the prior art, the utility model provides an underwater unmanned underwater vehicle attitude control simulation teaching aid.

[0004] In order to achieve the above utility model purpose, the utility model provides the following technical scheme:

[0005] An underwater unmanned underwater vehicle attitude control simulation teaching aid, comprising a counterweight, a balance bar, a support and a paddle, wherein the support is placed in the vertical direction, the top end of the support is fixedly connected with one end of a universal shaft, the middle part of the balance bar is hingedly connected with the other end of the universal shaft, the upper part of the middle part of the balance bar is fixedly installed with an inertial navigation system (INS, referred to as inertial navigation) in an inertial navigation protection box;

[0006] A laser pen slot is provided at the end of one end of the balance bar, and a laser pen is detachably inserted in the laser pen slot. A sliding groove is provided on the balance bar near the laser pen slot, and the counterweight is installed on the balance bar and slides along the sliding groove;

[0007] A bottom plate is fixedly provided at the end of the other end of the balance bar, and the axis direction of the balance bar is perpendicular to the bottom plate. A top plate is fixedly provided on the outer side end face of the bottom plate. An internal support frame is provided between the bottom plate and the top plate. A motion control board is installed in the internal support frame. The periphery of the internal support frame is evenly distributed with at least four support arms in a radial manner. An electronic speed controller (Electronic Speed Controller, referred to as ESC, electronic speed controller) is provided at the root of the support arm. A relay is provided at the middle part of the support arm. A brushless motor is provided at the end of the support arm. The rotating shaft of the brushless motor is connected with the rotating shaft of the paddle. The motion control board is electrically connected with the inertial navigation system, the relay, the electronic speed controller and the brushless motor respectively.

[0008] Further, a battery is installed on the outer end surface of the top plate, and the battery is electrically connected with the inertial navigation system, the electronic speed controller, the relay, the brushless motor, the paddle and the motion control board respectively.

[0009] Further, the periphery of the inner support frame is radially and evenly distributed with four support arms, that is, the four support arms are arranged in an X shape as a whole, and the four support arms are respectively located at the bisector positions of the four quadrants in the vertical plane, and the included angle between adjacent support arms is 90 degrees.

[0010] Further, the balance bar is fixedly connected with the center of the bottom plate.

[0011] Further, the brushless motor is a three-phase outer rotor brushless motor, and adopts position type PID control.

[0012] Compared with the prior art, the utility model has the beneficial effects that:

[0013] 1) the brushless motor adopts position type PID control, has higher stability and accuracy;

[0014] 2) each device adopts discrete and modular layout, and the device is convenient to replace;

[0015] 3) the counterweight is slidably designed, and the balance bar is conveniently fine-tuned and balanced;

[0016] 4) the laser pen can intuitively detect and visually display the attitude information in real time.

[0017] In conclusion, the utility model can adjust the angle of horizontal direction and vertical direction, realizes the attitude adjustment of multiple degrees of freedom, and better understands the attitude control principle of the underwater unmanned underwater vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the whole structure schematic diagram of the utility model;

[0019] Figure 2 It is the main view structure schematic diagram of the utility model;

[0020] Figure 3 It is the overhead structure schematic diagram of the utility model;

[0021] Figure 4 It is the left view structure schematic diagram of the utility model;

[0022] Figure 5 It is the right view structure schematic diagram of the utility model;

[0023] Figure 6 It is the four paddle motion schematic diagram of the utility model;

[0024] Figure 7The control relationship schematic diagram of the utility model.

[0025] In the figure, 1 is a counterweight, 2 is a laser pen slot, 3 is a laser pen, 4 is a balance bar, 5 is a universal shaft, 6 is a sliding groove, 7 is an inertial navigation protection box, 8 is a support, 9 is a bottom plate, 10 is an internal support frame, 11 is a top plate, 12 is an electronic speed regulator, 13 is a paddle, 14 is a brushless motor, 15 is a relay, and 16 is a support arm. DETAILED DESCRIPTION

[0026] The utility model will be described in further detail below in combination with the drawings and examples.

[0027] As Figures 1 to 5 shown in a kind of underwater unmanned underwater vehicle attitude control simulation teaching aid, it includes counterweight 1, balance bar 4, support 8 and paddle 13, wherein, support 8 is placed along vertical direction, and the top end of support 8 is fixedly connected with one end of universal shaft 5, and the middle part of balance bar 4 is hinged with the other end of universal shaft 5, and inertial navigation protection box 7 is fixedly installed above the middle part of balance bar 4, and inertial navigation system is installed in inertial navigation protection box 7, and in the specific embodiment, nine-axis inertial navigation HI219MKD is adopted to the action result of motion mechanism Real-time feedback, it is built-in high-efficiency attitude solution algorithm, including static drift correction, dynamic calibration and sensor data fusion, and can output the direction information of itself. Built-in three-axis accelerometer, three-axis gyroscope, three-axis compass, can real-time solve pitch angle, yaw angle, roll angle and other attitude data and output to motion control board through serial port, and data output serial port line can be connected with motion control board through the straight slot of the side of the inertial navigation protection box;

[0028] Laser pen slot 2 is arranged at the end of one end of balance bar 4, laser pen 3 is detachably inserted in laser pen slot 2, sliding groove 6 is arranged on balance bar 4 near one side of laser pen slot 2, and counterweight 1 is installed on balance bar 4 and slides along sliding groove 6;

[0029] Bottom plate 9 is fixedly arranged at the end of the other end of balance bar 4, the axis direction of balance bar 4 is perpendicular to bottom plate 9, top plate 11 is fixedly arranged on the outer side end face of bottom plate 9, internal support frame 10 is arranged between bottom plate 9 and top plate 11, motion control board is installed in internal support frame 10, the periphery of internal support frame 10 is radially distributed with four support arms 16, electronic speed regulator 12 is arranged at the root of support arm 16, relay 15 is arranged at the middle part of support arm 16, brushless motor 14 is arranged at the end of support arm 16, relay 15 is located between electronic speed regulator and brushless motor, whether the three-phase voltage signal output by electronic speed regulator is reversed or not is controlled through the attraction of relay, and then brushless motor is controlled to reverse, the rotating shaft of brushless motor 14 is connected with the rotating shaft of paddle 13, and the motion control board is electrically connected with inertial navigation system, relay 15, electronic speed regulator 12 and brushless motor 14.

[0030] Further, a battery is installed on the outer end surface of the top plate, and the battery is electrically connected with the inertial navigation system, the electronic speed controller 12, the relay 15, the brushless motor 14, the paddle 13 and the motion control board respectively.

[0031] Further, the periphery of the inner support frame 10 is evenly distributed with four support arms 16 in a radial manner, that is, the four support arms 16 are arranged in an X shape as a whole, and the four support arms 16 are respectively located at the bisecting line positions of the four quadrants in the vertical plane, and the included angle between adjacent support arms 16 is 90 degrees.

[0032] Further, the balance bar 4 is fixedly connected with the center of the bottom plate 9.

[0033] Further, the brushless motor 14 is a three-phase outer rotor brushless motor, and adopts position type PID control.

[0034] One paddle 13 and one corresponding brushless motor 14 constitute a propeller, and the quadrotor frame composed of four electronic speed controllers, four relays, four propellers, four support arms with equal lengths, a bottom plate and a top plate is a power mechanism of the whole system, and is used for simulating the four-paddle propulsion of the underwater unmanned underwater vehicle system.

[0035] As shown in Figure 6 and Figure 7 , the propellers are numbered in sequence in counterclockwise direction, and are respectively M1, M2, M3 and M4. Each propeller will generate a reaction torque opposite to the rotating direction under the action of fluid resistance such as water or air in the rotating process, which will cause the system stability to decrease or even cause unnecessary roll movement. In order to offset the reaction torque and disturbance, the four support arms in the power mechanism adopt an X-shaped structural layout, and the rotating directions of adjacent propellers are opposite, and the rotating directions of diagonal propellers are the same, that is, two diagonal propellers M1 and M3 rotate clockwise, and two diagonal propellers M2 and M4 rotate counterclockwise. Because when the rotating speed of one group of diagonal propellers is higher or lower than that of the other group of propellers, the balance bar will be driven to roll counterclockwise or clockwise, and the measures taken are that the change amount of the rotating speed of the motors in the group to be increased or decreased is kept equal. In this way, the reaction torque generated by the propellers M1 and M3 located at the diagonal position is offset by the reaction torque generated by the propellers M2 and M4.

[0036] The balance bar and the support and the thrust of each propeller will generate a component force in the vertical direction and the horizontal direction, when the resultant force of the thrust generated by the upper and lower groups of propellers in the vertical direction is unbalanced, the vertical up-and-down movement will be generated, since the balance bar and the support are connected through the universal shaft, the vertical movement can be generated, then the whole teaching aid will generate the pitching movement; similarly, since the resultant force of the thrust generated by the left and right groups of propellers in the horizontal direction is unbalanced, the horizontal left-and-right movement will be generated, in addition, the balance bar and the support are connected through the universal shaft, the horizontal movement can be generated, then the whole teaching aid will generate the yawing movement, and the component force is proportional to the rotational speed of the propeller, then the attitude adjustment of the underwater unmanned submarine is achieved by the different thrust generated by the four propellers rotating at different rotational speeds, the purpose of adjusting the attitude of the movement mechanism can be achieved by changing the rotational speeds of the four propellers.

[0037] In the embodiment, the STM32 microcontroller is arranged on the motion control board, the STM32 microcontroller selects the position type PID control for the control of the brushless motor to improve the control precision, after the calculation and processing of the attitude data calculated by the inertial navigation in real time as the actual value and the attitude data such as the pitching angle, the yawing angle and the roll angle set as the expected value when the system is initialized, the control signal is output and sent to the four electronic governors, the four electronic governors are respectively connected to the corresponding four brushless motors, and the change of the rotational speed is controlled.

[0038] In the embodiment, the brushless motor uses the Xindada A2212 three-phase outer rotor brushless motor, the rotational speed can be increased by 1000 revolutions per minute when the voltage is increased by 1 volt, the under-voltage protection, the over-voltage protection and the sound prompting function are provided. When the power is turned on, the brushless motor will not start immediately and will not start when the input voltage exceeds 18V, the safety of the experiment is improved, at the same time, in order to control the direction of the thrust, the STM32 control unit is also connected to the four relays, which are located between the electronic governor and the brushless motor, the output three-phase voltage signal of the electronic governor is controlled to be phase-inverted or not by the attraction of the relays, and the brushless motor is controlled to be reversed.

[0039] In the description of the utility model, it is necessary to explain, the direction or position relation indicated by the term "upper", "lower" and the like is based on the direction or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and is not indicating or implying that the device or element indicated must have a specific direction, be constructed and operated in a specific direction, therefore cannot be understood as a limitation on the utility model. Unless otherwise expressly specified and limited, the terms "mounting", "connection", "connection" should be broadly understood, for example, it can be fixed connection, can also be detachable connection, or integrally connected;It can be mechanical connection, or electrical connection;It can be directly connected, or indirectly connected through an intermediate medium, it can be the communication between two elements inside. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. The device not only includes those elements, but also includes other elements not explicitly listed, or also includes the elements inherent in such a process, method, article or device. Without more limitations, the element defined by the sentence "including one......" does not exclude the existence of other same elements in the process, method, article or device including the element.

[0040] The above is only a specific embodiment of the utility model, but the protection scope of the utility model is not limited to this, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the utility model, which should be covered within the protection scope of the utility model. Therefore, the protection scope of the utility model should be subject to the protection scope of the claims.

Claims

1. A simulation teaching aid for attitude control of an underwater unmanned submersible, comprising a counterweight (1), a balance bar (4), a support (8), and a propeller (13), characterized in that, The bracket (8) is placed vertically, and the top of the bracket (8) is fixedly connected to one end of the universal joint (5). The middle part of the balance bar (4) is hinged to the other end of the universal joint (5). An inertial navigation protection box (7) is fixedly installed above the middle part of the balance bar (4). An inertial navigation system is installed in the inertial navigation protection box (7). A laser pen slot (2) is provided at one end of the balance bar (4), and a laser pen (3) is detachably inserted into the laser pen slot (2). A sliding groove (6) is provided on the balance bar (4) near the laser pen slot (2), and a counterweight (1) is installed on the balance bar (4) and slides along the sliding groove (6). A base plate (9) is fixedly installed at the other end of the balance bar (4). The axis of the balance bar (4) is perpendicular to the base plate (9). A top plate (11) is fixedly installed on the outer end face of the base plate (9). An internal support frame (10) is installed between the base plate (9) and the top plate (11). A motion control board is installed in the internal support frame (10). At least four support arms (16) are evenly distributed radially around the periphery of the internal support frame (10). An electronic speed controller (12) is installed at the root of the support arm (16). A relay (15) is installed in the middle of the support arm (16). A brushless motor (14) is installed at the end of the support arm (16). The shaft of the brushless motor (14) is connected to the shaft of the blade (13). The motion control board is electrically connected to the inertial navigation system, the relay (15), the electronic speed controller (12), and the brushless motor (14).

2. The underwater unmanned submersible attitude control simulation teaching aid according to claim 1, characterized in that, A battery is installed on the outer end face of the top plate, and the battery is electrically connected to the inertial navigation system, electronic speed controller (12), relay (15), brushless motor (14), propeller (13) and motion control board respectively.

3. The underwater unmanned submersible attitude control simulation teaching aid according to claim 1, characterized in that, The internal support frame (10) has four support arms (16) arranged radially around its perimeter. The four support arms (16) are arranged in an X-shape, and the four support arms (16) are located at the bisectors of the four quadrants in the vertical plane. The included angle between adjacent support arms (16) is 90 degrees.

4. The underwater unmanned submersible attitude control simulation teaching aid according to claim 1, characterized in that, The balance bar (4) is fixedly connected to the center of the base plate (9).

5. The underwater unmanned submersible attitude control simulation teaching aid according to claim 1, characterized in that, The brushless motor (14) is a three-phase external rotor brushless motor and adopts position-type PID control.

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