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Underwater robot control method of rotatable rudder propeller

A technology of underwater robot and control method, which is applied in the direction of three-dimensional position/channel control, etc., can solve the problems of weak sensitivity and anti-interference, and achieve the effects of reduced performance, good robustness, and wide application range

Active Publication Date: 2017-05-17
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0003] In order to overcome the problems of the traditional linear control method with strong sensitivity to the hydrodynamic coefficient and weak anti-interference, the technical problem to be solved by the present invention is to provide a control method for an underwater robot with a rotatable rudder propeller, which reduces the impact on the control system. Sensitivity of Hydrodynamic Parameters and Improving the Control Anti-interference of the System

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  • Underwater robot control method of rotatable rudder propeller
  • Underwater robot control method of rotatable rudder propeller
  • Underwater robot control method of rotatable rudder propeller

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Embodiment Construction

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0029] The hardware requirement of the present invention is an AUV. The bow of the AUV is equipped with 2 horizontal rudders, and 2 propulsion motors are installed on the bow horizontal rudders; motor; configure a vertical rudder at the stern, such as figure 1 shown.

[0030] The AUV motion control method of the present invention comprises the following contents:

[0031] The role of speed control is to keep the AUV sailing at a specified forward speed. There are two types of speed control, one is speed open-loop control, which directly outputs and controls the axial thrust of the propeller without considering the speed feedback; the other is speed closed-loop control, which introduces speed feedback into the design of the speed controller. The linearity of speed control is relatively high, so the classical linear control method is adopted....

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Abstract

The invention relates to a underwater robot control method of a rotatable rudder propeller. By using the method, five-degree-of-freedom motion control of an AUV is realized. The method comprises speed control, course control and vertical plane control. The speed control comprises speed open-loop control and speed closed-loop control. In the speed open-loop control, speed feedback is not considered and an axial thrust of the propeller is directly output and controlled. In the speed closed-loop control, the speed feedback is introduced into a speed controller. The course control is variable structure course control. The vertical plane control is divided into high maneuvering control and low maneuvering control. When a distance between a underwater robot and a target position is greater than a set value, the high maneuvering control is adopted; otherwise, the low maneuvering control is adopted. Compared to a traditional control method, the method of the invention possesses better robustness and is suitable for changes of an extraneous environment, and through using the method of the invention, a control capability of the AUV is increased. The method can be transplanted conveniently and can be suitable for various robots.

Description

technical field [0001] The invention relates to the technical field of underwater robots, in particular to a control method for an underwater robot (AUV for short) with a rotatable rudder propeller, which realizes motion control of the AUV with five degrees of freedom (excluding roll control). Background technique [0002] In marine applications, underwater robots play an increasingly important role. Underwater robots are divided into two categories: one is a remote-controlled cable underwater vehicle (ROV for short), and the other is an unmanned autonomous underwater vehicle (AUV for short). ROV needs the support of the surface mother ship, and is limited by the length of the cable. Its operating distance is limited, generally only a few hundred meters; while AUV carries its own energy, it can be far away from the mother ship, and the operating distance can reach tens of kilometers or even hundreds of kilometers. Therefore, the research of AUV has been paid more and more a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 徐春晖王轶群邵刚赵宏宇刘健
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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