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。


    Access

    Download


    Export, share and cite



    Title :

    Safe motion control method for underwater unmanned sub-platform


    Additional title:

    一种水下无人子平台安全运动控制方法


    Contributors:
    HU CHUANXI (author) / CHEN KUN (author) / WANG DINGZHANG (author) / ZHOU XIN (author) / LI CHENYANG (author)

    Publication date :

    2024-01-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66D Haspeln , CAPSTANS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



    Motion Control of Three-Rotor Unmanned Underwater Vehicle

    Bal, Cafer / Korkmaz, Deniz / Bingol, Mustafa Can | Springer Verlag | 2017


    Amphibious unmanned platform and motion control method thereof

    WANG HONGJIAN / ZHONG BO / ZHANG YANBIN et al. | European Patent Office | 2024

    Free access

    Continuous unmanned airborne and underwater monitoring platform

    CONNOR MICHAEL JOSEPH / HINE RICHARD JUDE | European Patent Office | 2021

    Free access

    CONTINUOUS UNMANNED AIRBORNE AND UNDERWATER MONITORING PLATFORM

    CONNOR MICHAEL JOSEPH / HINE RICHARD JUDE | European Patent Office | 2019

    Free access

    Unmanned aerial vehicle underwater robot launching platform

    YANG LIN / WEI DINGJIANG / YANG BOXIONG | European Patent Office | 2024

    Free access