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Underwater vehicle suspension fixed-depth control system

A technology for underwater vehicles and control systems, applied to controllers with specific characteristics, electric controllers, etc., can solve problems such as multiple energy sources and unfavorable underwater vehicles working for a long time

Active Publication Date: 2016-05-25
710TH RES INST OF CHINA SHIPBUILDING IND CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method consumes more energy, which is not conducive to underwater vehicles working for a long time underwater

Method used

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  • Underwater vehicle suspension fixed-depth control system
  • Underwater vehicle suspension fixed-depth control system
  • Underwater vehicle suspension fixed-depth control system

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Embodiment Construction

[0016] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0017] The invention provides a suspended depth control system for an underwater vehicle, such as figure 1 Shown: including the first subtractor, the depth controller, the second subtractor, the speed controller and the aircraft connected in sequence; the output end of the aircraft model is connected with a depth sensor; the output end of the depth sensor is connected with the first subtractor respectively The input end of the speed calculation module is connected to the input end of the speed calculation module; the output end of the speed calculation module is connected to the input end of the second subtractor;

[0018] The depth sensor is used to detect the current depth h of the aircraft; and send it to the input end of the first subtractor;

[0019] The first subtractor is used to calculate the difference between the set target depth H and the curre...

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Abstract

The invention discloses an underwater vehicle suspension fixed-depth control system. Through dual-ring control of the depth and the speed of the vehicle, dual-ring control of the depth and the vertical speed of the vehicle are respectively adopted. A speed control ring controls the vertical speed of the vehicle for preventing the depth of the vehicle from being uncontrolled due to the too large vertical speed of the vehicle, and a depth control ring realizes depth control of the vehicle. According to the invention, the purpose of the depth control of the vehicle can be realized by use of the dual-ring control, and at the same time, the operation demand of the vehicle on the basis of less consumption of energy can also be satisfied.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle control, in particular to a suspended depth-fixing control system for an underwater vehicle. Background technique [0002] At present, there are three ways to control the suspension depth of underwater vehicles: one is to increase or decrease the applied external force; the other is to change the volume of the vehicle without changing the mass; the third is to change the mass of the vehicle without changing the volume. [0003] In practical applications, the first method is often used to realize the fixed depth control of the aircraft, and the propeller is rotated through the forward and reverse rotation of the motor to generate thrust, so as to realize the suspended depth control of the underwater vehicle. However, this method consumes more energy, which is unfavorable for underwater vehicles to work underwater for a long time. Contents of the invention [0004] In view of this, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 卢海洋胡庆玉周俊武雷石生龙石小红
Owner 710TH RES INST OF CHINA SHIPBUILDING IND CORP
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