The invention belongs to the field of underwater machinery application, and provides a control method of an underwater robot attitude compensation device, and a system used by the control method comprises a compensation device and an ROV main control device. The compensation device is composed of an execution mechanism and a control surface. The ROV master control device is composed of a control circuit and a sensing circuit. The ROV master control device not only outputs the control instruction of the compensation device, but also can be used for outputting control instructions of other devices of the ROV. When the ROV sails along the horizontal plane, the ROV master control device controls the execution mechanism of the compensation device and adjusts the included angle between the control surface and the water flow direction according to the deviation condition of the current pitch attitude of the ROV relative to the expected attitude change, so that the component force generated in the vertical direction during the sailing of the ROV is balanced, the deviated buoyancy center of the ROV is compensated, and the water flow is balanced. The method assists the ROV in maintaining the stability of the pitch attitude, avoids the change of the pitch attitude angle of the ROV which does not conform to expectation, and improves the working efficiency of the ROV during navigation.
本发明属于水下机械应用领域,提供一种水下机器人姿态补偿装置的控制方法,该控制方法所用的系统包括补偿装置和ROV主控装置。其中,补偿装置由执行机构和舵面组成;ROV主控装置由控制电路和传感电路组成。ROV主控装置除了输出补偿装置的控制指令,还同时可用于输出ROV其它设备的控制指令。本发明应用于无人遥控潜水器上,ROV沿水平面航行时,ROV主控装置根据ROV当前俯仰姿态相对于预期姿态变化的偏离情况,控制补偿装置的执行机构,调节舵面与水流方向的夹角,从而平衡ROV航行时竖直方向上产生的分力,补偿ROV偏移的浮心,辅助ROV保持俯仰姿态的稳定,避免ROV俯仰姿态角度发生不符合预期的变化,提高ROV在航行时的工作效率。
Control method of underwater robot attitude compensation device
一种水下机器人姿态补偿装置的控制方法
2024-10-18
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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