Thrust allocation method and device for miniature underwater robot vector layout thruster
A thrust distribution and thruster technology, which is applied in the direction of propulsion transmission, propulsion power transmission, ship propulsion, etc., can solve the problems of neglecting the energy saving factors of micro ROV thrusters, low power of micro ROV thrusters, and damage to the thrusters. Ensure system real-time performance and control effect, fast processing speed, and reduce system energy consumption
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[0042] The invention discloses a thrust distribution method and a device thereof based on an ARM controller and a linux operating system for micro-ROV vector arrangement thrusters (number of thrusters: 3).
[0043] The inventive device such as Figure 4 As shown, it includes: a control signal generating unit, a microcontroller and a voltage output unit, wherein: the control signal generating unit generates a voltage control signal and outputs it to the microcontroller; the microcontroller processes the voltage control signal to generate an actual voltage control The signal is sent to the voltage output unit; the voltage output unit applies the actual voltage control signal to the robot vector arrangement thruster. The control signal is generated by the signal generating device. In this example, it is a control single rod. The control single rod can generate control signals in three directions: forward, sideways, and diving. The signal is generated in the form of voltage. like...
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