The invention relates to a steering engine soft reset method for a flapping-wing underwater unmanned vehicle, which is characterized in that deformation strain gauge sensors are arranged at the positions of flapping-wing devices at two sides of the vehicle, and the flapping-wing devices at two sides of the vehicle are calibrated at different positions between the maximum upper limit position and the maximum lower limit position of the flapping-wing devices at two sides of the vehicle, the resistance values of the strain gauges are calibrated, and the flapping-wing devices at two sides of the vehicle are reset. Obtaining a voltage value Vi on the corresponding strain gauge; in the operation process of the flapping-wing underwater unmanned vehicle, the control system collects and measures the voltage value Vx of the strain gauge, and compares the Vx with Vi calibrated by the control system to obtain the actual position area of the current flapping-wing device, so that the position data of the steering engine are obtained under the condition that the steering engine has no position feedback; when the flapping wing device needs to be adjusted to a certain position, the actual position and the certain position of the control system move to a set position in a segmented manner. And the structural distortion of the flapping wing device of the aircraft caused by large-angle rapid movement is greatly reduced. Therefore, the service lives of the steering engine and the flapping wing device are prolonged.
本发明涉及一种扑翼水下无人航行器的舵机软复位方法,在航行器两侧的扑翼装置的部位设有形变应变片传感器,通过标定航行器两侧的扑翼装置的最大上限位置与最大下限位置之间不同位置时,应变片的电阻的阻值,得到相应的应变片上的电压值Vi;扑翼水下无人航行器运行过程中,控制系统采集测量应变片电压值Vx,将Vx与控制系统已经标定的Vi进行对比,得到当前扑翼装置的实际位置区域,使得在舵机无位置反馈情况下获取舵机位置数据;当需要将扑翼装置调到某位置时,控制系统实际位置与某位置分段运动到设定位置。极大程度降低了航行器扑翼装置因大角度急速运动而导致的结构畸变。从而增加舵机、扑翼装置使用寿命,实用性强。
Steering engine soft reset method of flapping-wing unmanned underwater vehicle
一种扑翼水下无人航行器的舵机软复位方法
2023-07-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |
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