The invention discloses a system for stabilizing the real-time attitude of an underwater vehicle, and relates to the technical field of control systems. The system comprises an overwater control end and an underwater vehicle, the target attitude acquisition unit is used for receiving an attitude adjustment signal sent by the overwater control end; the real-time data acquisition unit comprises a variable gravity center gyroscope device and an acceleration sensor and is used for calculating real-time attitude data of the underwater vehicle based on an IMU attitude filtering algorithm; the abnormal posture alarm unit is used for inputting the real-time posture data into the abnormal posture recognition model; the signal conversion unit comprises a calculation module and a thrust distribution module; and the control motor driving unit is used for converting pulse width modulation (PWM) values on the plurality of control motors into angular displacement so as to drive the plurality of control motors to adjust the attitude of the underwater vehicle. The technical problem that the attitude adjustment efficiency of the underwater vehicle is low is solved.
本发明公开了用于潜航器实时姿态的稳定系统,涉及控制系统技术领域。其中,该系统包括:水上控制端以及水下潜航器;目标姿态获取单元,用于接收水上控制端发送的姿态调整信号;实时数据获取单元,包括可变重心陀螺装置以及加速度传感器,以及基于IMU姿态滤波算法计算水下潜航器的实时姿态数据;异常姿态告警单元,用于将实时姿态数据输入异常姿态识别模型;信号转换单元,包括计算模块及推力分配模块;控制电机驱动单元,用于将多个控制电机上的脉冲宽度调制PWM值转变为角位移,以驱动多个控制电机调整水下潜航器的姿态。本申请解决了对水下潜航器的姿态的调整效率较低的技术问题。
System for stabilizing real-time attitude of underwater vehicle
用于潜航器实时姿态的稳定系统
2023-12-08
Patent
Electronic Resource
Chinese
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