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Alternative TitleTrack control method of cableless autonomous underwater vehicle (AUV)
刘健; 于闯; 林扬; 贾松力; 刘爱民; 刘铁军
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 21002
Other AbstractThe invention relates to a navigation control technology for a cableless autonomous underwater vehicle (AUV). A control method comprises the following steps of: calculating a distance deltaS between the current position of the underwater vehicle and a planned path substituting the distance deltaS into a PID (Proportion Integration Differentiation) algorithm to obtain control quantity deltaS control of a navigation path offset calculating navigation control quantity deltaH control of the underwater vehicle reaching a target point and distributing the sum of the control quantity deltaS control and the navigation control quantity deltaH control serving as a total control quantity to each propeller motor according to the propeller arrangement situation of the underwater vehicle to realize track control over the underwater vehicle. According to the method, accurate track control over the cableless AUV can be realized under an ocean current situation, the distance between the practical track of the AUV and the planned path can be controlled within two meters during stable navigation, and navigation guarantee is provided for accurate completion of a track tracking task by the cableless AUV.
PCT Attributes
Application Date2012-11-23
Application NumberCN201210485195.4
Open (Notice) NumberCN103048997A
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
刘健,于闯,林扬,等. 一种无缆自治水下航行体的航迹控制方法[P]. 2013-04-17.
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