The invention relates to the technical field of AUV control, in particular to an AUV depthkeeping suspension control method of an oil bag type buoyancy adjusting device, depth adjustment is achieved through the volume change of an outer oil bag, the volume change of the outer oil bag is related to the internal oil amount, and the outer oil bag is filled with oil or pumped to achieve floating and diving of the AUV. According to the method, the maneuvering capability of the AUV with the device can be effectively improved, and the use scene is expanded.
本发明涉及AUV控制技术领域,尤其是一种油囊式浮力调节装置的AUV定深悬浮控制方法,通过外油囊体积变化实现深度调节,其中外油囊体积变化与内部油量有关,对外油囊充油或抽油实现AUV的上浮和下潜,结合模糊定深控制算法最终实现AUV定深悬浮,本发明能够有效提升具有此类装置的AUV机动能力,扩大使用场景。
AUV depth-keeping suspension control method of oil bag type buoyancy adjusting device
一种油囊式浮力调节装置的AUV定深悬浮控制方法
2025-05-06
Patent
Electronic Resource
Chinese
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen |
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