The invention discloses a towed underwater robot and a navigation depth-keeping control method thereof, and belongs to the technical field of underwater robot control. The invention aims to solve the problem of accurate depth-keeping control of the underwater robot. A communication module and an industrial personal computer are arranged in a sealing bin, and a detection device, an underwater depth sensor, a propeller, a hoisting mechanism and a power supply are installed outside the sealing bin. The industrial personal computer is connected with the communication module, the detection device, the underwater depth sensor, the propeller, the hoisting mechanism and the power supply; the power supply is connected with the detection device, the underwater depth sensor, the propeller and the hoisting mechanism; the propeller is a vertical plane propeller and is used for realizing the heaving motion of the pull-type underwater robot; the detection device is used for receiving and sending signals; the underwater depth sensor is used for detecting underwater depth data. The propeller is installed on the vertical face of the pull-type underwater robot to achieve vertical adjustment so as to achieve depth control in the complex environment, a kinetic model is given, an active-disturbance-rejection depth-keeping controller is designed, and the depth control function is achieved.

    一种拖曳式水下机器人及其航行定深控制方法,属于水下机器人控制技术领域。为解决水下机器人定深控制精准的问题。本发明密封仓内设置有通信模块、工控机,密封仓外安装有探测装置、水下深度传感器、推进器、起升机构、电源;工控机连接通信模块、探测装置、水下深度传感器、推进器、起升机构、电源;电源连接探测装置、水下深度传感器、推进器、起升机构;推进器为垂直面推进器,用于实现一种拖曳式水下机器人的升沉运动;探测装置用于接受和发送信号;水下深度传感器用于检测水下深度数据。本发明通过在拖曳式水下机器人垂直面安装推进器实现上下调整来实现在复杂环境下的深度控制,给出动力学模型,设计自抗扰定深控制器,实现深度控制功能。


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    Title :

    Pull-type underwater robot and navigation depth-keeping control method thereof


    Additional title:

    一种拖曳式水下机器人及其航行定深控制方法


    Contributors:
    WEI YANHUI (author) / YANG TIANLONG (author) / ZHOU XILIN (author) / WANG XI (author) / ZHANG HELONG (author) / HUANG LE (author) / ZHAO KANGKANG (author) / WANG YUEYUE (author) / SONG FEI (author) / WU JIANYUAN (author)

    Publication date :

    2023-08-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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