The invention belongs to the technical field of control methods of underwater autonomous navigation robots, and discloses a jet-type attitude control method for an underwater vehicle, which comprises the following steps of: obtaining deviations between a current underwater vehicle and a pitch angle, a yaw angle and a roll angle of the current underwater vehicle in an inertial coordinate system through a measuring device on the basis of the requirement of the underwater vehicle for reaching an attitude angle at each moment; a pitching signal, a yaw signal and a rolling signal are output, namely the amplitudes of a pitching angle, a yaw angle and a rolling angle which need to be corrected by the control system are controlled; and generating a control instruction by using the intermediate device, outputting the control instruction to the control element, and generating a direct control force under the action of the jet flow to act on the underwater vehicle so as to complete attitude control of the underwater vehicle. Based on a control element, jet flow provides pitching, yawing and rolling three-channel attitude control force to complete attitude control of the underwater vehicle.
本发明属于水下自主航行机器人的控制方法技术领域,公开了潜航器射流式姿态控制方法,基于潜航器在每一时刻需要达到的姿态角的需求,通过测量装置得到当前潜航器与既定在惯性坐标系中的俯仰角、偏航角以及滚转角之间的偏差,输出俯仰信号、偏航信号、滚转信号,即控制系统需要回正的俯仰角、偏航角以及滚转角的幅度;再利用中间装置生成控制指令输出到控制元件,并在射流的作用下产生直接控制力作用在潜航器上,完成潜航器的姿态控制。本发明基于控制元件,由射流提供俯仰、偏航、滚转三通道姿态控制力完成潜航器的姿态控制。
Jet type attitude control method for underwater vehicle
潜航器射流式姿态控制方法
2024-09-24
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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