UUV navigational speed duplex control device and method for ocean observation operation

Abstract

The invention provides a UUV(Unmanned Underwater Vehicle) navigational speed duplex control device and method for ocean observation operation, which comprises a task control module, a magnitude navigational speed control channel, a precise navigational speed control channel, a motion control module and a sensing module, wherein the task control module is mutually connected with the magnitude navigational speed control channel, the precise navigational speed control channel, the motion control module and the sensing module, and the magnitude navigational speed control channel and the precise navigational speed control channel are all connected with the motion control module. The sensing module captures UUV status, position information and ocean current section information, and then sends the UUV status, the position information and the ocean current section information to the task control module, the motion control module and the task control module to carryout real-time information exchange after the information is processed. The task control module selects different channels according to the current operating condition, and sends digital control quantity corresponding to the current navigational speed command of UUV to the motion control module in order to accomplish the entire navigation speed control procedure. The UUV (Unmanned Underwater Vehicle) navigational speed duplexcontrol device and method disclosed by the invention can be applied for cable control debugging and navigational speed control of various kinds of UUV (Unmanned Underwater Vehicle) during multiple-operation condition operation.

Description

technical field [0001] The present invention relates to a UUV speed control device and method, in particular to a UUV speed duplex control device and method for ocean observation operations. Background technique [0002] Unmanned Underwater Vehicles (UUV), also known as unmanned underwater vehicles or underwater robots, is a high-tech integration, and it is extremely challenging to autonomously complete pre-planned missions in complex marine environments. However, designing a stable and reliable motion control system is one of the key technologies to ensure its own safety while completing its mission as satisfactorily as possible. In the problem of motion control, the speed control system is the premise of realizing other motion controls. Once the UUV fails to reach the design speed, the rest of the motion control will be limited, or even much lower than the design index, and the mission will fail. Therefore, there is an urgent need for a speed control system that can enabl...

AI Technical Summary

Problems solved by technology

This paper proposes that the speed open-loop method is used to control the speed of the propeller during the UUV mission. However, when the speed of the UUV is not high and the current cannot be ignored, the open-loop speed control may not meet the design requirements.

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