The invention discloses a control method of a vector propulsion system applied to an underwater vehicle, which comprises the following steps of: calculating output absolute angles or displacements corresponding to three force output units by using rudder angle data of rotation around an x axis and a y axis, and then controlling the force output units to drive three force transmission shafts to move within a certain range parallel to the direction of a central shaft; and finally, the direction of the tail main push motor is driven to change through the combined action, so that the spatial multi-degree-of-freedom motion state random switching in the navigation process of the underwater vehicle is realized. According to the method, a new thought and a new strategy are provided for the control technology of the vector propulsion system of the underwater vehicle, and various problems of low control efficiency, poor synchronism of a force output unit, complex implementation process of the method, poor stability and reliability and the like of the existing control method of the vector propulsion system of the underwater UUV are solved; and the development of the vector propulsion system of the underwater vehicle can be greatly promoted.
本发明公开了一种应用于潜航器的矢量推进系统的控制方法,利用绕x轴、绕y轴转动的舵角数据计算出三个力输出单元对应的输出绝对角度或位移量,然后控制力输出单元带动三个力传导轴在以平行于中心轴方向的一定范围内运动,最终通过共同作用带动尾部主推电机方向的变换,从而实现了潜航器航行过程中的空间多自由度运动状态随意切换。本发明的方法为潜航器的矢量推进系统控制技术提供了新思路和新策略,解决了水下UUV矢量推进系统现有的控制方法存在的控制效率低、力输出单元同步性差、方法实现过程复杂、稳定可靠性差等各种问题,能够大力促进潜航器矢量推进系统的发展。
Control method of vector propulsion system applied to underwater vehicle
一种应用于潜航器的矢量推进系统的控制方法
04.04.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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