The invention provides an autonomous attitude adjustment system and method for a suspended underwater docking platform. The autonomous attitude adjustment system comprises a buoyancy adjustment module, a power control module, a sensing module and an attitude control module, the buoyancy adjusting module is arranged on the butt joint platform, and the buoyancy adjusting module adjusts the buoyancy borne by the butt joint platform through water filling and drainage; the power control module is connected with the buoyancy adjusting module and used for controlling water filling and draining of the buoyancy adjusting module. The sensing module is used for collecting attitude data of the docking platform and adjusting data of the buoyancy adjusting module, and the attitude control module and the sensing module perform data interaction; the attitude control module controls the buoyancy adjusting module through the power control module according to data collected by the sensing module. The closed-loop feedback control system is utilized, the drainage volume of each buoyancy adjusting device arranged on the platform is changed according to the platform attitude deviation, the platform buoyancy is balanced, the optimal docking attitude is kept, and the docking task requirement of one or more aircrafts is met.
本发明提供了一种悬浮式水下对接平台姿态自主调节系统及方法,包括:浮力调节模块、动力控制模块、感知模块以及姿态控制模块;浮力调节模块设置在对接平台上,浮力调节模块通过充排水调节对接平台所受到的浮力;动力控制模块与浮力调节模块连接,用于控制浮力调节模块的充排水;感知模块用于采集对接平台的姿态数据和浮力调节模块的调节数据,姿态控制模块与感知模块进行数据交互;姿态控制模块根据感知模块采集的数据,通过动力控制模块控制浮力调节模块。本发明利用闭环反馈控制系统,根据平台姿态偏差,改变平台布置的各浮力调节装置的排水体积,均衡平台浮力保持最佳的对接姿态,满足单一或多航行器的对接任务需求。
System and method for autonomously adjusting attitude of suspended underwater docking platform
悬浮式水下对接平台姿态自主调节系统及方法
2025-03-14
Patent
Electronic Resource
Chinese
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