Control system suitable for underwater vehicle water surface recovery and control method thereof

A technology of control system and motion control system, which is applied in the field of control system for surface recovery of submersibles, can solve problems such as increased recovery failure of submersibles, increase of system complexity, encountering drive failures, etc., to improve reliability and stability, navigation track stability and reduce the effect of steady-state tracking error

Active Publication Date: 2021-06-25
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the current submarine recovery technology is often inseparable from the participation of staff, and excessively relies on the complex design of the recovery mechanism, which not only increases the complexity of the system, but also has a relatively low recovery efficiency
Moreover, in addition to facing complex ocean environments and harsh communication environments, submersibles may also encounter other unfavorable factors such as drive failures, which will increase the probability of submersible recovery failures

Method used

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  • Control system suitable for underwater vehicle water surface recovery and control method thereof
  • Control system suitable for underwater vehicle water surface recovery and control method thereof
  • Control system suitable for underwater vehicle water surface recovery and control method thereof

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Embodiment 1

[0066] A control system suitable for surface recovery of submarines, including a catamaran unmanned boat central control system, a catamaran unmanned boat motion control system, a laser detection and visual recognition module, a submarine recovery system, a submarine drone central control system, a submarine Device motion control system; the control relationship between each system is as follows: figure 1 As shown, the central control system of the catamaran unmanned boat is respectively connected with the motion control system of the catamaran unmanned boat, the laser detection and visual recognition module, the recovery system of the submarine, and the central control system of the submarine; the motion control system of the submarine Connect with the laser detection and visual recognition module, the submarine recovery system, and the submarine central control system respectively; the laser detection and visual recognition module is connected with the submarine recovery syst...

Embodiment 2

[0108] A control method applicable to the control system of the underwater vehicle surface recovery described in embodiment 1, comprising the following steps:

[0109] Step 1. The central control system of the catamaran unmanned boat receives the recovery command sent by the user, generates the recovery command of the submarine and the detection and recognition command of the sea surface target, and transmits the recovery command of the submarine to the central control system of the submarine, and detects and recognizes the target on the sea surface. The recognition instruction is transmitted to the laser detection and visual recognition module;

[0110] Step 2, the submersible vehicle central control system generates the submersible vehicle up-floating command according to the received submersible vehicle recovery command, and transmits the submersible vehicle up-floating command to the submersible vehicle motion control system; the submersible vehicle motion control system re...

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Abstract

The invention discloses a control system suitable for underwater vehicle water surface recovery and a control method thereof, and belongs to the technical field of unmanned ships. The control system for underwater vehicle water surface recovery comprises a double-body unmanned ship central control system, a double-body unmanned ship motion control system, a laser detection and visual identification module, an underwater vehicle recovery system, an underwater vehicle central control system and an underwater vehicle motion control system. An unmanned ship pose prediction model based on deep learning is designed in the double-body unmanned ship motion control system, prediction of unmanned ship pose data is achieved, and the precision of unmanned ship positioning and the stability of an underwater vehicle recovery platform are improved. Meanwhile, a self-adaptive sliding mode fault-tolerant tracking controller is designed in the motion control system of the underwater vehicle, so that the underwater vehicle has higher reliability and stability in the process of executing a recovery task. The underwater vehicle water surface recovery control system designed by the invention can effectively improve the recovery efficiency and success rate of the underwater vehicle, saves the recovery cost, and has certain practical value.

Description

technical field [0001] The invention relates to the technical field of unmanned boats, in particular to a control system and a control method suitable for surface recovery of submarines. Background technique [0002] Submersibles are widely used in hydrographic surveys and other fields due to their excellent underwater scientific research capabilities. Moreover, with the development of submarine control technology, the recovery technology of submarines has also attracted the attention of a large number of scholars in recent years. However, the current submarine recovery technology is often inseparable from the participation of staff, and excessively relies on the complex design of the recovery mechanism, which not only increases the complexity of the system, but also has a relatively low recovery efficiency. Moreover, in addition to facing complex ocean environments and harsh communication environments, submersibles may also encounter other unfavorable factors such as drive...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 王曰英陈汇资吴乃龙周卫祥成敏杜鑫付俊解相朋姜斌罗均汪小帆杨希祥严怀成
Owner SHANGHAI UNIV
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