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一种可旋转舵推进器的水下机器人控制方法
Alternative TitleRotatable steering propeller underwater robot controlling method
徐春晖; 王轶群; 邵刚; 赵宏宇; 刘健
Department水下机器人研究室
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 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种可旋转舵推进器的水下机器人控制方法,实现对AUV的五自由度运动控制。本发明包括速度控制、航向控制和垂直面控制;所述速度控制包括速度开环控制和速度闭环控制,所述速度开环控制不考虑速度反馈直接输出控制推进器轴向推力;所述速度闭环控制将速度反馈引入到航速控制器中;所述航向控制为变结构航向控制;所述垂直面控制分为强机动控制和弱机动控制,在水下机器人与目标位置的距离大于设定值时,采用强机动控制;否则采用弱机动控制。与传统的控制方法比较,本方法具有更好的鲁棒性,更能适应外界环境的改变,提高了AUV的控制能力。本方法移植方便,可以适用于各种机器人。
Other AbstractThe method involves controlling speed, steering and vertical control of an underwater robot. The speed control is selected from speed open loop control and speed closed loop control. Axial thrust of a propeller is controlled according to the speed open loop control. Speed feedback is sent to a controller for controlling the propeller. The steering control is formed as a variable steering control structure. The vertical control is divided into strong motor control and weak motor control. A strong motor is controlled when distance of underwater robot target position is greater than a set value.
PCT Attributes
Application Date2015-11-06
2017-05-17
Date Available2019-01-25
Application NumberCN201510750233.8
Open (Notice) NumberCN106681352A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/20401
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
徐春晖,王轶群,邵刚,等. 一种可旋转舵推进器的水下机器人控制方法[P]. 2017-05-17.
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