The invention discloses a control method of an unmanned underwater vehicle propelled by vector control. The unmanned underwater vehicle comprises a controller, a sensor module and an attitude module, the sensor module collects motion data of the underwater vehicle and sends the motion data to the controller; the front side vector control system comprises four front nozzles which are integrated in a hollow sphere and located at the head of the ship body. The rear side vector control system comprises four rear nozzles which are integrated in a hollow sphere and located at the tail of the ship body, and the four front nozzles and the four rear nozzles are symmetrically arranged about the gravity center of the ship body; the hollow ball body at the tail part or the hollow ball body at the head part is respectively provided with a rotatable steering valve ball head, and any one of the four front nozzles or any one of the four rear nozzles can be selected to spray water by rotating the steering valve ball heads. Moment coupling is generated at the bow and the stern to enable the hull to deviate so as to control the posture and the position of the hull. The jet propulsion technology is used for replacing a traditional control surface and a fin type propeller to provide attitude control and advancing power.
本发明公开了一种矢量控制推进的无人潜航器的控制方法,包括控制器、传感器模块、姿态模块;传感器模块收集潜航器的运动数据并发送至控制器;前侧矢量控制系统包括四个集成在一个空心球体、位于船体的头部的前喷口;后侧矢量控制系统包括四个集成在一个空心球体、位于船体的尾部的后喷口,四个前喷口和四个后喷口关于船体重心对称布置;尾部的空心球体或头部的空心球体分别设置有一个可转动的转向阀球头,通过转动转向阀球头可选择四个前喷口中的任一个或四个后喷口中的任一个进行喷水。通过在船头船尾产生力矩耦合来使船身偏移从而控制其姿态和位置。使用射流推进技术取代传统舵面和鳍式螺旋桨来提供姿态控制和前进的动力。
Control method of unmanned underwater vehicle propelled by vector control
一种矢量控制推进的无人潜航器的控制方法
2024-08-30
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |