The invention discloses a depth control method for underwater anti-flow movement of a microminiature AUV (Autonomous Underwater Vehicle), and belongs to the technical field of AUVs. Comprising the following steps: calculating and setting the oil volume of an oil bag under a target depth according to the volume variation of the AUV obtained by a seawater density difference; an adjustment mode is judged based on data returned by the depth sensor, and a target pitching value is output through a PID control algorithm; a pitching motor and a propeller are controlled to enable the AUV to perform depth fine adjustment in a wave-shaped advancing posture, and the propeller is turned off after the AUV reaches the target depth; and controlling a pitching motor to flatten the attitude of the AUV and then carry out horizontal anti-flow propulsion. The method has the advantages that the response speed is high, the control precision is high, the AUV can execute a horizontal anti-flow propulsion task, and the stability of underwater long-time localized operation is achieved.
一种微小型AUV水下抗流运动的深度控制方法,属于AUV技术领域。包括如下步骤:根据海水密度差所得的AUV体积变化量,计算并设置目标深度下的油囊油量;基于深度传感器返回的数据判断调整方式,通过PID控制算法输出目标纵摇值;控制俯仰电机及推进器使AUV以波浪形前进的姿态进行深度微调,到达目标深度后关闭推进器;控制俯仰电机将AUV姿态打平后进行水平抗流推进。优点:响应速度快,控制精确度高,使AUV可执行水平抗流推进任务并实现水下长时间定域作业的稳定性。
Depth control method for underwater anti-flow motion of microminiature AUV (Autonomous Underwater Vehicle)
一种微小型AUV水下抗流运动的深度控制方法
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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