The invention discloses a safe motion control method for an underwater unmanned sub-platform, and the method comprises the steps: carrying out the brake control of a traction motor drive device when the traction motor drive device breaks down, and carrying out the brake control of a brake motor drive device when the traction motor drive device breaks down. When the sub-platform moves reversely, the brake motor driving device performs brake control when the traction motor driving device breaks down, and the brake motor driving device performs brake control when the brake motor driving device breaks down; the traction motor driving device performs brake control under the fault of the brake motor driving device during forward movement of the sub-platform; the traction motor driving device performs brake control under the fault of the brake motor driving device during reverse movement of the sub-platform; through cooperative control of electric braking and mechanical braking of the traction motor driving device and the braking motor driving device, the motion safety of the underwater unmanned sub-platform can be ensured.
本发明公开了一种水下无人子平台安全运动控制方法,包括子平台正向运动时牵引电机驱动装置故障下牵引电机驱动装置刹车控制和牵引电机驱动装置故障下制动电机驱动装置刹车控制,子平台反向运动时牵引电机驱动装置故障下制动电机驱动装置刹车控制和制动电机驱动装置故障下制动电机驱动装置刹车控制,子平台正向运动时制动电机驱动装置故障下牵引电机驱动装置刹车控制和子平台反向运动时制动电机驱动装置故障下牵引电机驱动装置刹车控制;本发明通过牵引电机驱动装置和制动电机驱动装置电刹车、机械刹车协同控制,可确保水下无人子平台运动安全性。
Safe motion control method for underwater unmanned sub-platform
一种水下无人子平台安全运动控制方法
2024-01-09
Patent
Electronic Resource
Chinese
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