Multi-degree-of-freedom autonomous underwater vehicle movement control device

Abstract

The invention discloses a multi-degree-of-freedom autonomous underwater vehicle movement control device. The multi-degree-of-freedom autonomous underwater vehicle movement control device is composed of two vector propelling devices and a lateral movement propelling device, so that a vehicle is made to have a multi-degree-of-freedom movement form. The two vector propelling devices are symmetrically arranged at the front end and the rear end of the underwater vehicle, and each vector propelling device is connected with two propellers through connecting rods. According to the multi-degree-of-freedom autonomous underwater vehicle movement control device, the propelling way of the underwater vehicle can be changed freely, a motor is used for controlling the propellers to rotate within 360 degrees in a blind-angle-free mode by means of a turbine and worm transmission way, and thus a vector propelling function is achieved; and meanwhile, the lateral movement propelling device is arranged in the center of the vehicle, so that transverse horizontal movement of the vehicle is achieved. In addition, a whole keel structure is designed, the effect that the vector propelling devices and the lateral movement device are fixed in the vehicle can be guaranteed, and the vehicle can complete basic multi-degree-of-freedom movement and can also complete complex or unusual machine movement ways such as transverse horizontal movement.

Description

technical field [0001] The invention relates to the field of aircraft motion control, in particular to a multi-degree-of-freedom autonomous underwater vehicle motion control device. Background technique [0002] Since the U.S. Navy built an acoustic monitoring system on the seabed during the Cold War, the submarine observation network technology has been continuously improved. Today, researchers have built stations and networked various observation instruments located on the seabed, buried in drilling wells, or floating in seawater to form an in-situ observation and data acquisition system on the seabed. With the development of this technology, the research of autonomous underwater vehicles came into being, which can be used for data collection, real-time monitoring and so on. [0003] In the past, underwater vehicles, that is, commonly used underwater vehicles, rely solely on motors to provide power and control directions. Although they can achieve certain degrees of freed...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the common underwater vehicles that use a single motor plus steering gear for control, the accuracy of the control cannot be guaranteed, and at the same time, the underwater attitude of the vehicle cannot be actively changed, and it does not have good controllability and maneuverability. Problem, the present invention provides a comprehensive mechanical structure design scheme, so that the aircraft can move autonomously underwater without the need for external control, power lines and other equipment

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