The invention belongs to the technical field of underwater vehicles, and particularly relates to a depth-keeping navigation control method for an unmanned autonomous underwater vehicle with a buoyancy adjusting system and a horizontal rudder, and the control process comprises a diving stage, a depth-keeping navigation stage and a floating stage. Depth-keeping navigation control of the underwater vehicle is achieved mainly by controlling a buoyancy driving unit, a posture adjusting unit, a horizontal rudder and a propelling unit of the underwater vehicle. The buoyancy adjusting system and the horizontal rudder are adopted for combined control, the defects that a single buoyancy adjusting system is poor in depth-keeping precision and a single horizontal rudder is large in power consumption are overcome, energy consumption is greatly reduced, the depth-keeping control precision of the whole machine is improved, high-precision depth-keeping control over the underwater vehicle can be achieved, and the service life of the underwater vehicle is prolonged. Meanwhile, the maneuverability and cruising ability of the underwater vehicle are improved, and the performance of the underwater vehicle is greatly improved.
本发明属于水下航行器技术领域,特别涉及一种具备浮力调节系统和水平舵的无人自主水下航行器定深航行控制方法,所述控制过程包括下潜阶段、定深航行阶段、上浮阶段,其主要通过控制水下航行器的浮力驱动单元、姿态调节单元、水平舵和推进单元实现水下航行器定深航行控制;本发明采用浮力调节系统与水平舵联合控制,避免了单一浮力调节系统定深精度差和单一水平舵功耗大等缺点,大大降低了能耗、提升了整机的定深控制精度,可以实现水下航行器高精度定深控制,同时也提升了水下航行器的机动能力和续航能力,大大提升了水下航行器的性能。
Depth-keeping navigation control method based on buoyancy adjusting system and horizontal rudder
基于浮力调节系统和水平舵的定深航行控制方法
2024-10-08
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
Underwater vehicle depth adjusting system based on buoyancy adjustment and control method
European Patent Office | 2023
|UNDERWATER MOVING DEVICE, BUOYANCY ADJUSTING SYSTEM, AND BUOYANCY ADJUSTING METHOD
European Patent Office | 2018
|Rudder piece hinge moment adjusting method, hinge moment adjustable rudder piece and control method
European Patent Office | 2025
|