Disclosed is a self-balancing control method for an unmanned underwater vehicle (UUV) that includes: fitting the UUV vehicle with at least one reversible propeller; converting the forces the unmanned underwater vehicle is subjected to into a resultant force in each of at least one degree of freedom (DOF) of motion based on a DOF of motion control model, where each of the DOF of motion corresponds to a measurable motion control parameter; designing a corresponding sub-PID controller according to each of the at least one DOF of motion; and calculating the thrust required by each of the at least one reversible propeller based on a thrust distribution matrix.


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    Title :

    SELF-BALANCING CONTROL METHOD AND SYSTEM FOR AN UNMANNED UNDERWATER VEHICLE


    Contributors:

    Publication date :

    2021-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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