The invention discloses an annular array type multi-stage and multi-direction underwater vehicle direct force attitude controller and a control method, relates to the technical field of underwater vehicle direct force attitude control, and provides the following scheme that the underwater vehicle direct force attitude controller comprises an underwater vehicle and an annular attitude controller body installed in a nose cone rear square column section area of the underwater vehicle; a position difference exists between the annular attitude controller and the center of mass of the underwater vehicle in the direction of the symmetry axis of the underwater vehicle, and an attitude control force arm is formed. A plurality of jet generators are combined by using an annular array to serve as an executing mechanism of the transverse and longitudinal attitude control system of the underwater vehicle to directly generate a control force with a specified angle and a specified size in a plane perpendicular to the navigation direction, so that the traditional pitching and yawing control channels are replaced, and the purpose of direct force control is achieved. The jet flow is directly used for providing control force, quick response and accurate regulation and control can be achieved, and coupling with a power system or a navigation state is avoided.
本发明公开了一种环形阵列式多级多向潜航器直接力姿态控制器及控制方法,本发明涉及潜航器直接力姿态控制技术领域,现提出如下方案,包括潜航器,安装在潜航器的头锥后方柱段区域的环形姿态控制器,环形姿态控制器与潜航器的质心之间在沿着潜航器的对称轴方向存在位置差,形成姿态控制力臂。本发明中通过利用环形阵列组合多个射流发生器作为潜航器横纵姿态控制系统的执行机构直接在垂直于航行方向的平面内产生指定角度的指定大小的控制力,实现对传统的俯仰、偏航控制通道的替代,并达到直接力控制的目的。而且直接利用射流提供控制力,可以实现快速响应与精确调控,不与动力系统或航行状态耦合。
Annular array type multistage multidirectional underwater vehicle direct force attitude controller and control method
一种环形阵列式多级多向潜航器直接力姿态控制器及控制方法
2024-09-20
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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