The invention provides a method for adjusting the navigation attitude of a small AUV. A traction rope, an AUV shell, a motor, an annular track and an arc-shaped ballast are included. The motor is mounted at the top of the AUV shell, and an output shaft is connected with the arc-shaped ballast through a traction rope; the motor is controlled to positively and negatively rotate to change the length of the traction rope, and the ballast is driven to slide in the annular track to adjust the gravity center position of the AUV and reduce the roll angle; the ballast position is fed back to the control system, so that motor rotating speed control and AUV attitude accurate control are realized; the method is simple in structure, accurate in control and suitable for attitude control of the small AUV.
本发明提出一种小型AUV航行姿态调整的方法,包括牵引绳、AUV壳体、电机、环形轨道及弧形压载;电机安装在AUV壳体顶部,输出轴通过牵引绳连接弧形压载;控制电机正反转改变牵引绳长度,驱动压载在环形轨道内滑动,以调整AUV重心位置和减小横滚角;压载位置反馈给控制系统,实现电机转速控制并精确控制AUV姿态;该方法结构简单,控制精确,适用于小型AUV的姿态控制。
Method for adjusting navigation attitude of small AUV (Autonomous Underwater Vehicle)
一种小型AUV航行姿态调整的方法
2024-02-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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