The invention provides an autonomous suspended particulate matter capturing navigation system and method.The system is composed of a collecting module and a power module, the collecting module is arranged on the power module and is of an eccentric funnel structure, and a steering engine controls a collecting bottle to rotate along the axis of a supporting disc as needed; and collecting a time series of suspended particulate matter samples. The power module integrates a horizontal propeller, a vertical propeller, a control surface and a buoyancy adjusting system, response equations of the propellers, the control surface and the buoyancy adjusting system are obtained by using an advanced system identification algorithm calibrated by a laboratory, and a high-robustness algorithm is designed based on a passive control theory so as to improve the stability and three-dimensional maneuverability of the control system. The motion control algorithm is implemented by a low-power-consumption embedded processor and provides rapid and accurate pose adjustment response, so that the capability of carrying out large-range rapid maneuvering in a three-dimensional space is achieved to adapt to variable hydrological environments and execute complex sampling tasks.
本发明提供了一种自主式悬浮颗粒物捕获航行系统及方法,该系统由采集模块和动力模块构成,其中采集模块布置于动力模块之上,采用偏心漏斗结构,通过舵机控制采集瓶沿支撑盘的轴线进行按需旋转,以收集时间序列的悬浮颗粒物样本。动力模块集成了水平和垂直推进器、舵面以及浮力调节系统,利用实验室标定的先进系统辨识算法得到推进器、舵面及浮力调节系统的响应方程,并基于被动控制理论设计高鲁棒性的算法,以提高控制系统的稳定性和三维机动性。该运动控制算法由低功耗嵌入式处理器实施,提供快速准确的位姿调整响应,从而具备在三维空间内进行大范围快速机动的能力,以适应多变的水文环境和执行复杂的采样任务。
Autonomous suspended particulate matter capturing navigation system and method
自主式悬浮颗粒物捕获航行系统及方法
2024-10-29
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES |
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