The invention provides a side rod structure control method applied to an underwater manned vehicle. The side rod structure control method comprises the steps that side rod displacement of an active side rod is obtained; judging whether the operation of the manned underwater vehicle exceeds a safety control limit or not under the displacement of the side rod; under the condition that the operation of the manned underwater vehicle does not exceed the safety control limit under the current side rod displacement, generating a first active loading moment based on the side rod displacement and a set control parameter, so as to control the reverse driving force of the active side rod through the first active loading moment; and generating a second active loading moment on the basis of the first active loading moment on the basis of the side rod displacement and the set control parameters under the condition that the underwater manned vehicle runs beyond the safety control limit under the current side rod displacement, so as to adjust the reverse driving force through the second active loading moment. According to the method, the requirements of different operators for damping characteristics are met, and the active side lever technology fuses information such as safety control boundaries and sailing states to ensure that a crew performs a correct control behavior.

    本发明提供一种应用于水下载人航行器的侧杆结构控制方法,该包括获取主动侧杆的侧杆位移;判断水下载人航行器在所述侧杆位移下运行是否超过安全操纵界限;在水下载人航行器在当前侧杆位移下运行未超过安全操纵界限的情形下,基于侧杆位移与设置的控制参数生成第一主动加载力矩,以通过第一主动加载力矩控制主动侧杆的反向驱动力;在水下载人航行器在当前侧杆位移下运行超过安全操纵界限的情形下,基于侧杆位移与设置的控制参数在第一主动加载力矩的基础上生成第二主动加载力矩,以通过第二主动加载力矩调整反向驱动力。本发明适应不同操纵人员对阻尼特性的需求,主动侧杆技术将安全操纵界限,航行状态等信息进行融合保证艇员做出正确的操纵行为。


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    Titel :

    Side rod structure control method applied to underwater manned vehicle


    Weitere Titelangaben:

    一种应用于水下载人航行器的侧杆结构控制方法


    Beteiligte:
    SHE YINGYING (Autor:in) / WANG GUOXIANG (Autor:in) / ZHANG YINGHAO (Autor:in) / YU JIAN (Autor:in) / XU KAN (Autor:in) / GUO SONG (Autor:in) / LIU YUAN (Autor:in) / LIU GANG (Autor:in) / MIN FEIYAN (Autor:in) / YANG HUI (Autor:in)

    Erscheinungsdatum :

    26.04.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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