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Gliding course control method of manta ray-imitated underwater aircraft based on flapping wing offset

A technology for underwater vehicle and heading control, which is applied in two-dimensional position/channel control, vehicle position/route/height control, underwater ships and other directions, and can solve problems such as easy failure, poor steering maneuverability, and loud noise , to achieve the effect of strong adaptability and stable posture

Active Publication Date: 2021-09-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
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Problems solved by technology

However, practical problems such as low efficiency, high noise, poor steering maneuverability and easy failure cannot be ignored.

Method used

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  • Gliding course control method of manta ray-imitated underwater aircraft based on flapping wing offset
  • Gliding course control method of manta ray-imitated underwater aircraft based on flapping wing offset
  • Gliding course control method of manta ray-imitated underwater aircraft based on flapping wing offset

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Embodiment Construction

[0032] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0033] To achieve the above tasks, the technical solution adopted by the present invention is to obtain the current azimuth information through the attitude sensor, use fuzzy control to calculate the bias parameter, and then calculate and output the pectoral fin control signal by the formula, so as to realize bow gliding with asymmetric left and right bias of the pectoral fin, and finally Realize the heading control of the manta ray-like aircraft in the gliding state, and its control system diagram is as follows: figure 1 As shown, the specific steps are as follows:

[0034] Step 1: Calculate the course deviation and the rate of change of course deviation.

[0035] The current azimuth angle of the underwater vehicle obtained by the attitude sensor is x (clockwise is positive), and the reference heading set by the task is x d , then the heading deviation Δx is ...

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Abstract

The invention relates to a gliding course control method of a manta ray-imitated underwater aircraft based on flapping wing offset, which comprises the following steps of: acquiring current azimuth angle information through an attitude sensor, calculating a bias parameter by utilizing fuzzy control, and calculating and outputting a pectoral fin control signal through a formula so as to realize arch gliding with asymmetric left and right biases of pectoral fins; and finally achieving course control of the manta ray-imitated aircraft in a gliding state. The method is not sensitive to a pectoral fin propelling bionic underwater vehicle model, is high in adaptability, and can be used for controlling the bow gliding course of any type of aircraft; course adjustment in gliding is realized by controlling left and right asymmetric offset of the pectoral fins, so that the attitude of the aircraft is more stable on the premise of ensuring the response speed, and a traditional lead block type transverse rolling mechanism can be replaced.

Description

technical field [0001] The invention belongs to the field of motion control of underwater vehicles, and relates to a gliding heading control method for a manta ray imitating underwater vehicle based on flapping wing offset. Background technique [0002] Autonomous underwater vehicles (AUVs) are widely used in military and civil affairs, and are an integral part of ocean exploration. Traditional AUVs are propelled by propellers, which have the advantages of easy installation, simple control, and easy replacement and maintenance. However, practical problems such as low efficiency, high noise, poor steering maneuverability and easy breakdown cannot be ignored. By imitating the propulsion mechanism of underwater organisms in nature, the efficiency and maneuverability of underwater vehicles can be effectively improved, noise can be reduced, and the biological affinity of the aircraft can be enhanced. [0003] Typical bionic propulsion modes include body / tail fin mode and pector...

Claims

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Application Information

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IPC IPC(8): G05D1/02B63G8/20
CPCG05D1/0206B63G8/20
Inventor 曹勇谢钰马淑敏张代利郝艺伟
Owner NORTHWESTERN POLYTECHNICAL UNIV
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