The invention belongs to the technical field of underwater vehicle design, and particularly relates to an X-shaped rudder underwater vehicle and a rudder clamp anti-sinking method thereof. The device includes a boat body, a driving system and an electric control system, wherein the driving system comprises a rudder blade, a steering engine, a propeller and a driving motor; the electric control system comprises an upper control assembly, a power supply assembly, a driving assembly, a data acquisition assembly, a motion control assembly and an embedded assembly; the upper control assembly comprises a PC upper computer; the power supply assembly comprises a battery pack and a stable voltage power supply assembly; the data acquisition assembly comprises a sensor group; and the control assembly comprises a control acquisition board, a JetsonNano development board, a differential converter, an isolation driver, a relay and an LDO. The X-shaped rudder anti-sinking autonomous underwater vehicle structure is high in survivability, convenient to realize redeem operation, capable of quickly performing adaptive transformation, applied to underwater vehicle structures of various sizes and tonnages, and capable of having better control performance in a complex environment compared with traditional underwater navigation equipment.
本申请属于潜航器设计技术领域,尤其涉及一种X型舵潜航器及其舵卡抗沉方法。包括艇体、驱动系统、电控系统;驱动系统包括舵叶、舵机、螺旋桨、驱动电机;电控系统包括上位控制组件、电源组件、驱动组件、数据采集组件、运动控制组件、嵌入组件;上位控制组件包括PC上位机;电源组件包括电池组、电平稳压功率电源组件;数据采集组件包括传感器组;控制组件包括控制采集板、JetsonNano开发板、差分转换器、隔离驱动器、继电器、LDO稳压器;本申请的X型舵抗沉自主潜航器结构的生存能力高,便于实现挽回操作,能够快速进行适应性改造,运用于各类型尺寸和吨位的潜航器结构,相对于传统潜航设备,在复杂环境下能具有更好的控制性能。
X-shaped rudder underwater vehicle and rudder clamp anti-sinking method thereof
一种X型舵潜航器及其舵卡抗沉方法
2021-11-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
RUDDER CONTROLLER, UNDERWATER VEHICLE AND RUDDER CONTROL METHOD
Europäisches Patentamt | 2016
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