The invention provides a side rod structure applied to an underwater manned vehicle and the underwater manned vehicle. The side rod structure comprises an active side rod, a side rod module, a monitoring module and a control module, the control module is used for generating a first active loading torque according to the displacement of the side rod, and the monitoring module is used for generating a control torque motor through the first active loading torque to control the reverse driving force of the active side rod and controlling the reverse driving force of the active side rod when the underwater manned vehicle runs beyond a safe control limit under the current displacement of the side rod. The control module generates a second active loading torque on the basis of the first active loading torque, and the monitoring module controls the torque motor to adjust the reverse driving force through the second active loading torque. The side rod structure applied to the underwater manned vehicle meets the requirements of different operators for damping characteristics, and the active side rod technology fuses information such as the safety control limit and the navigation state to ensure that a launchman makes a correct control behavior.
本发明提供一种应用于水下载人航行器的侧杆结构及水下载人航行器,该侧杆结构包括主动侧杆、侧杆模块、监控模块和控制模块;控制模块用于根据侧杆位移生成第一主动加载力矩,监控模块以通过第一主动加载力矩生成控制力矩电机控制主动侧杆的反向驱动力,并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时,控制模块在第一主动加载力矩的基础上生成第二主动加载力矩,监控模块以通过第二主动加载力矩控制力矩电机对反向驱动力进行调整。本发明提供的应用于水下载人航行器的侧杆结构,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 applied to underwater manned vehicle and underwater manned vehicle
一种应用于水下载人航行器的侧杆结构及水下载人航行器
2024-05-07
Patent
Electronic Resource
Chinese
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