The invention provides a side rod structure control method of an underwater manned vehicle. The side rod structure control method comprises the following steps: acquiring control parameters and side rod displacement of an active side rod; the control parameters are adjusted based on the displacement of the side rod; judging whether the operation of the manned underwater vehicle exceeds a safety control limit or not under the displacement of the side rod; under the condition that the operation of the manned underwater vehicle does not exceed the safety control limit under the current side rod displacement, generating a first active loading moment based on the side rod displacement and the control parameter after real-time adjustment, so as to control the reverse driving force of the active side rod through the first active loading moment; and under the condition that the underwater manned vehicle runs beyond the safety control limit under the current side rod displacement, a second active loading moment is generated, and the reverse driving force is adjusted through the second active loading moment. According to the method, the requirements of different operators for damping characteristics are met, and the active side lever technology fuses information such as safety control boundaries and sailing states to ensure that a crew performs a correct control behavior.
本发明提供一种水下载人航行器的侧杆结构控制方法,该包括:获取控制参数和主动侧杆的侧杆位移;基于侧杆位移对控制参数进行调整;判断水下载人航行器在侧杆位移下运行是否超过安全操纵界限;在水下载人航行器在当前侧杆位移下运行未超过安全操纵界限的情形下,基于侧杆位移与实时调整后的控制参数生成第一主动加载力矩,以通过第一主动加载力矩控制主动侧杆的反向驱动力;在水下载人航行器在当前侧杆位移下运行超过安全操纵界限的情形下,生成第二主动加载力矩,以通过第二主动加载力矩调整反向驱动力。本发明适应不同操纵人员对阻尼特性的需求,主动侧杆技术将安全操纵界限,航行状态等信息进行融合保证艇员做出正确的操纵行为。
Side rod structure control method of underwater manned vehicle
一种水下载人航行器的侧杆结构控制方法
2024-05-03
Patent
Electronic Resource
Chinese
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