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载人潜水器应急运动控制装置
Alternative TitleEmergent motion control apparatus for manned submersible vehicle
郭威; 王晓辉
Department水下机器人技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司
Country中国
Subtype发明
Status未缴年费
Abstract本发明公开一种载人潜水器应急运动控制装置,包括单杆切换电路和应急运动控制电路两部分,单杆切换电路将单杆信号分解成三自由度应急通路和计算机通路;应急运动控制电路将来自单杆切换电路的三自由度控制信号进行等幅放大、线性叠加,并对控制信号进行推力分配,通过应急运动控制电路中的电位器调节三个自由度的推力分配系数和推进器的正反推力特性,最后通过继电器切换再将应急控制信号与计算机控制信号进行分开处理,最终实现潜水器的三自由度的应急运动控制。该载人潜水器应急运动控制装置,结构简单,尺寸小,重量轻,调节方便,可靠性高,成本低,功能强。本发明亦可用于其它水下机器人的应急运动控制中。
Other AbstractThe invention discloses a manned submersible vehicle emergency motion control device, which consists of single-rod switching circuit and emergency motion control circuit, wherein the single-rod switching circuit decomposes the single-rod signal into three freedom degrees emergency channel and computer channel the emergency motion control circuit receives the three freedom degrees control signal to do constant amplitude enlargement and linear superposition, which proceeds propulsion allocation of control signal. The device disposes the emergency control signal and computer control signal separately through relay switch according to the potentiometer adjustment of three freedom degree propulsion allocation coefficient and propeller positive and negative propulsion character in the emergency motion control circuit, which realizes the three freedom degree emergency motion control of submarine at last.
description.patentprioritydataCN20041050656
PCT Attributes
Application Date2004-10-22
2006-04-26
Date Available2008-07-16
Application NumberCN200410050656.0
Open (Notice) NumberCN1763664A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/12933
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
郭威,王晓辉. 载人潜水器应急运动控制装置[P]. 2006-04-26.
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