The invention discloses an amphibious vehicle posture adjusting device and a control method, and belongs to the technical field of amphibious vehicles. According to the invention, pod type propeller mechanisms which are symmetrically and additionally arranged at the head part of the vehicle are adopted to provide main propelling force for the attitude adjustment of the vehicle, a tail vector water-jet propeller and a telescopic wave-proof plate mechanism are used for assistance, and a cooperative adjustment method comprising heaving and immersion depth, trim control and roll control is constructed in a targeted manner; on the basis of vehicle body real-time attitude data provided by a sensor and a gyroscope in the vehicle, thrust and force direction provided by a pod type propeller to the vehicle are controlled through a PID controller, and rapid self-adaptive active adjustment of sailing parameters is carried out through the synergistic effect of the three components on the premise that high-speed sailing of the vehicle is not affected. In other words, rapid control and cooperative adjustment of the pod type thruster, the vector thruster and the telescopic wave-proof plate are achieved, real-time posture adjustment of the amphibious vehicle is achieved when the sailing posture of the amphibious vehicle is unstable, and the adaptability and safety of the high-speed amphibious vehicle under the complex sea condition are improved.

    本发明公开的一种水陆两栖车姿态调节装置及控制方法,属于两栖车辆技术领域。本发明采用对称加装在车辆首部的吊舱式推进器机构,为车辆姿态调节提供主要推进力,辅助以尾部矢量喷水推进器及可伸缩防浪板机构,并针对性地构建包括升沉及吃水深度、纵倾控制、侧倾控制的协同调节方法;基于车内传感器与陀螺仪所提供的车体实时姿态数据,通过PID控制器控制吊舱式推进器提供给车的推力和力的方向,三者协同作用在不影响车辆高速航行的前提下进行航行参数快速自适应主动调节,即实现对吊舱式推进器、矢量推进器和可伸缩防浪板的快速控制和协同调节,使两栖车在航行姿态不稳定时实现实时姿态调节,提升高航速两栖车复杂海况适应性和安全性。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Amphibious vehicle attitude adjusting device and control method


    Weitere Titelangaben:

    一种水陆两栖车姿态调节装置及控制方法


    Beteiligte:
    CHEN TAIRAN (Autor:in) / GENG HAO (Autor:in) / XU BIN (Autor:in) / CHEN JIACHENG (Autor:in) / HUANG BIAO (Autor:in) / WANG GUOYU (Autor:in)

    Erscheinungsdatum :

    2023-03-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen



    Amphibious unmanned aerial vehicle with counterweight attitude adjusting mechanism

    DING YULING | Europäisches Patentamt | 2023

    Freier Zugriff

    Amphibious vehicle and method of controlling attitude of vehicle body of amphibious vehicle

    OSHIMA TAKAAKI / SATO SHINICHI / ISHIKAWA SATORU et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    AMPHIBIOUS VEHICLE AND METHOD OF CONTROLLING ATTITUDE OF VEHICLE BODY OF AMPHIBIOUS VEHICLE

    OSHIMA TAKAAKI / SATO SHINICHI / ISHIKAWA SATORU et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    AMPHIBIOUS VEHICLE AND METHOD OF CONTROLLING ATTITUDE OF VEHICLE BODY OF AMPHIBIOUS VEHICLE

    OSHIMA TAKAAKI / SATO SHINICHI / ISHIKAWA SATORU et al. | Europäisches Patentamt | 2018

    Freier Zugriff

    AMPHIBIOUS VEHICLE AND CONTROL METHOD FOR AMPHIBIOUS VEHICLE

    SHIMIZU ETSURO / UMEDA AYAKO | Europäisches Patentamt | 2022

    Freier Zugriff