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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

Active Publication Date: 2012-06-06
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Application Information

AI Technical Summary

Problems solved by technology

Energy saving is very important for micro-ROVs with their own batteries. The existing technology often ignores the energy-saving factors of micro-ROV propellers; micro-ROV propellers have low power and low rated voltage. It is easy to cause damage to the propeller

Method used

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  • Thrust allocation method and device for miniature underwater robot vector layout thruster
  • Thrust allocation method and device for miniature underwater robot vector layout thruster
  • Thrust allocation method and device for miniature underwater robot vector layout thruster

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Embodiment Construction

[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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Abstract

The invention relates to a thrust allocation method and device for a miniature underwater robot vector layout thruster. The method comprises the following steps of: taking a thrust allocation energy consumption matrix of the vector layout thruster as a basis for calculating thrust; calculating a thrust allocation result with the minimum energy consumption through a extreme value theory; removing abnormal data through a peak value removal method and obtaining a control voltage for the thruster in a normal range; and converting the allocation result obtained through calculating into an actual control voltage by a thrust / voltage conversion method. The device comprises a control signal generation unit, a microcontroller and a voltage output unit; the control signal generation unit generates a voltage control signal and outputs the voltage control signal to the microcontroller; the microcontroller processes the voltage control signal, generates an actual voltage control signal, and outputs the actual voltage control signal to the voltage output unit; and the voltage output unit applies the actual voltage control signal to the robot vector layout thruster. With the adoption of the thrust allocation method and device for the miniature underwater robot vector layout thruster, the safe operation of a system is ensured, and the energy consumption of the system can be effectively lowered under the condition that the control effect is ensured.

Description

technical field [0001] The invention relates to an underwater robot thruster control technology, in particular to a thrust distribution method and device for a micro underwater robot vector arrangement thruster. Background technique [0002] The micro underwater machine has its own energy, and energy cannot be replenished during one launch, so how to efficiently use the limited energy is an important indicator of the comprehensive ability of the underwater robot. Among the energy-consuming components, the propeller is undoubtedly the tallest component, and the thruster enables the micro ROV to generate forward momentum. At present, the vector arrangement of thrusters is widely used, and this arrangement method can obtain the most degrees of freedom with the least number of thrusters. The scientific and reasonable thruster propulsion separation algorithm can give full play to the advantages of distributing the propulsion charge, which not only improves the power, but also sa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H23/24
Inventor 李智刚孙凯秦宝成何震
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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