The invention provides a buoyancy control method of an unpowered rapid submerging and floating AUV. By recording the change time t of the AUV from the horizontal posture to the vertical posture and performing weighted fusion calculation on the approximate uniform motion speed of the AUV in the vertical posture, an accurate and sufficient motion distance is provided for the change process of the AUV from the vertical posture to the horizontal posture before the AUV reaches the target depth; in the diving or floating process that the vertical posture of the AUV is changed into the horizontal posture and in the diving or floating process that the AUV is in the horizontal posture, the AUV is in the horizontal posture; a depth and speed double-closed-loop control method is adopted for continuously adjusting the buoyancy adjusting mechanism, and on the basis, a nonlinear expansion state observer is utilized for estimating and compensating marine environment interference borne in the diving or floating process. Under the condition that power propulsion devices such as a main propeller, an auxiliary propeller and a rudder are not used, the underwater robot dives or floats upwards to the target depth more accurately and rapidly.
本发明提供一种无动力式快速潜浮AUV的浮力控制方法,通过对AUV水平姿态变为竖直姿态的变化时间t的记录以及AUV竖直姿态下近似匀速运动速度的加权融合计算,对到达目标深度前由竖直姿态变为水平姿态的变化过程给出准确且充足的运动距离;在AUV竖直姿态变为水平姿态的下潜或上浮过程中以及AUV以水平姿态下潜或上浮过程中,采用深度与速度双闭环控制方法对浮力调节机构不断调节,并在此基础上利用非线性扩张状态观测器对下潜或上浮过程中受到的海洋环境干扰进行估计并补偿。本发明在不使用主推进器、辅助推进器和舵等动力推进装置的条件下更加准确地快速下潜或上浮到目标深度。
Buoyancy control method of unpowered rapid submerging and floating AUV
一种无动力式快速潜浮AUV的浮力控制方法
2020-08-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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