The invention provides an instantaneous acceleration system and method for an autonomous underwater vehicle and is used for solving a problem that energy is greatly consumed due to the fact that acceleration is increased by increasing the rotating speed and torque of a propeller of an existing autonomous underwater vehicle. The method comprises steps that a controller of the autonomous underwater vehicle controls a jet propulsion device to start to provide thrust, and instantaneous acceleration of the autonomous underwater vehicle is achieved; whether a propeller is started or not is determined; resistance during sailing is calculated according to a water resistance formula; the controller solves the thrust of the propeller, and the rotating speed of the propeller is calculated through the thrust; the controller calculates the rudder angle of the tail rudder according to the required rudder force; propellers propel stable sailing, and the pose is adjusted according to the rudder angle. The method is advantaged in that a jet-propelled propulsion device and the propellers are mixed to drive an AUV to sail, and the jet-propelled propulsion device provides kinetic energy required for starting the AUV to realize instantaneous acceleration; after acceleration, steady-speed navigation and pose adjustment of the AUV can be realized. According to the method, the acceleration time of the AUV can be greatly shortened, and energy consumption is reduced.
本发明提出了一种自主水下航行器瞬时加速系统及方法,用以解决现有自主水下航行器通过增加螺旋桨转速和扭矩的方式增加加速度会极大的消耗能量。本发明的步骤为:自主水下航行器的控制器控制喷气式推进装置启动提供推力,实现自主水下航行器瞬时加速;判断是否启动螺旋桨;根据水阻力公式计算航行时的阻力;控制器解算螺旋桨的推力,通过推力计算螺旋桨的转速;控制器根据所需舵力解算尾舵的舵角;螺旋桨推进稳定航行,根据舵角调整位姿。本发明混合喷气式推进装置和螺旋桨驱动AUV航行,喷气式推进装置提供AUV启动所需的动能,实现瞬时加速;加速后可以实现AUV稳速航行及位姿调整。本发明可以大幅缩短AUV加速时间,降低了能耗。
Instantaneous acceleration system and method for autonomous underwater vehicle
一种自主水下航行器瞬时加速系统及方法
2021-06-08
Patent
Electronic Resource
Chinese
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