The invention discloses a self-adaptive attitude regulation and control method for a self-reconfigurable modular autonomous underwater vehicle (AUV), and belongs to the technical field of self-reconfigurable modular AUVs. In order to solve the problem that the gravity center change of the self-reconfiguration modular AUV causes the negative influence on the performance, the method comprises the following steps: measuring the weight distribution, the gravity center position and the buoyancy center position of all combinations, and calculating the hydrodynamic coefficient of the corresponding AUV configuration; identifying cabin section ID information of each module of the assembled AUV, matching the cabin section ID information with the module combination, and judging whether the assembly is accurate or not; matching a thrust distribution matrix, a gravity center position, a buoyancy center position, weight distribution and a hydrodynamic coefficient for each cabin ID one by one; carrying out ashore and ashore load testing and ashore task deployment on the modular AUV; and attitude data is acquired in real time, attitude self-adaptive adjustment is performed on the modular AUV according to the attitude data, the gravity center and the position relation of the stepping motor, a preset attitude target is achieved, and a balance state is kept. The method is used for the self-reconfiguration modular autonomous underwater vehicle.

    一种自重构模块化AUV的自适应姿态调控方法,属于自重构模块化自主水下航行器技术领域。为解决自重构模块化AUV重心改变导致其性能产生负面影响的问题,它包括:测定所有组合的重量分布、重心位置和浮心位置,计算对应AUV构型的水动力系数;识别装配后的AUV各模块的舱段ID信息,与模块组合进行匹配,判断是否装配准确;对各舱段ID逐一匹配推力分配矩阵、重心位置、浮心位置、重量分布和水动力系数;对模块化AUV进行岸上、岸上载荷测试和岸上任务部署;实时获取姿态数据,根据姿态数据、重心和步进电机的位置关系,对模块化AUV进行姿态自适应调整,达到预置姿态目标,且保持平衡状态。本发明用于自重构模块化自主水下航行器。


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    Title :

    Self-adaptive attitude regulation and control method for self-reconfigurable modular AUV (Autonomous Underwater Vehicle)


    Additional title:

    一种自重构模块化AUV的自适应姿态调控方法


    Contributors:
    SUN YANCHAO (author) / SUN BAOHE (author) / CUI SHU'AO (author) / FENG RUI (author) / HUANG YUANBIAO (author) / SONG YUHENG (author) / WANG YUYANG (author) / LI HAOYANG (author) / SONG YUE (author) / GUO QI (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen




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