CN108357656B - Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device - Google Patents

Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device Download PDF

Info

Publication number
CN108357656B
CN108357656B CN201810112445.7A CN201810112445A CN108357656B CN 108357656 B CN108357656 B CN 108357656B CN 201810112445 A CN201810112445 A CN 201810112445A CN 108357656 B CN108357656 B CN 108357656B
Authority
CN
China
Prior art keywords
rov
thrust
depth
buoyancy
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810112445.7A
Other languages
Chinese (zh)
Other versions
CN108357656A (en
Inventor
段发阶
孙中波
蒋佳佳
王宪全
卜令冉
李春月
刘晗
党文杰
马世雄
邓澈
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tianjin University
Original Assignee
Tianjin University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tianjin University filed Critical Tianjin University
Priority to CN201810112445.7A priority Critical patent/CN108357656B/en
Publication of CN108357656A publication Critical patent/CN108357656A/en
Application granted granted Critical
Publication of CN108357656B publication Critical patent/CN108357656B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Earth Drilling (AREA)
  • Toys (AREA)

Abstract

The invention belongs to the technical field of remote control unmanned submersible vehicles, and provides a hybrid control underwater control device which can flexibly control buoyancy to adapt to different environments and work tasks and can reduce energy consumption in the working process, wherein an oil sac and a propeller are used for hybrid control of an ROV (remote operated vehicle) underwater hovering and depth-fixing control device; the control box is connected with an ROV control system through an umbilical cable; the ROV control system arranged in the ROV sealing and pressure-resistant shell consists of a posture control module consisting of a system control module, a depth sensor, a three-axis acceleration sensor, a three-axis gyroscope and a three-axis magnetometer, a propeller driving module and a buoyancy regulating device driving module. The invention is mainly applied to the design and manufacture occasions of the unmanned submersible.

Description

Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device
Technical Field
The invention belongs to the technical field of remote control unmanned submersible vehicles, and particularly relates to an ROV underwater hovering and depth setting control device controlled by an oil bag and a propeller in a mixed mode. In particular to an oil bag and propeller hybrid control ROV underwater hovering and depth setting control device.
Background
A remote controlled unmanned Vehicle (ROV) is a towing cable, and is a Vehicle for controlling navigation and operation by operating personnel on a ship or a shore, and has wide application in the fields of fishery, underwater rescue, ocean resource detection, underwater engineering and the like. In the process of observing and operating at fixed points of a target, the ROV is required to keep hovering at a certain depth to ensure good operation effect, the ROV generally has small positive buoyancy in a static state, and the stress condition of the ROV is changed by thrust generated by a vertical propeller of the ROV, so that the functions of depth setting and hovering are realized. However, such designs have two disadvantages: (1) the ROV is when different sea areas work, the change of sea water density leads to the change of ROV preset buoyancy, and pick up or throw the gravity change that article lead to when doing under water, can make its whole atress change, thereby influence its navigation dynamic parameter, can lead to its depthkeeping and function failure of hovering in serious time, (2) the general self-carrying battery of small-size observation type ROV, traditional offset little positive buoyancy through perpendicular propeller realizes depthkeeping and the controlling means who hovers, need the propeller to continue work, the energy consumption is high, can seriously shorten the duration of ROV.
The oil bag type buoyancy adjusting device changes the volume of the oil bag by pumping or extracting hydraulic oil into or out of the oil bag by utilizing the flexibility of the oil bag, and further changes the buoyancy under the condition of not changing the weight of the submersible vehicle, thereby changing the stress condition of the submersible vehicle. Compared with a propeller, the oil bag type buoyancy adjusting device has the advantages of low power consumption, low cost, high buoyancy adjusting precision and the like. The oil bag type buoyancy adjusting device has important significance for reducing the energy consumption of the underwater submersible, reducing the system cost and improving the operability of the underwater submersible, but compared with a propeller, the oil bag type buoyancy adjusting device has the defects of slow dynamic response and incapability of realizing quick response under complex sea conditions, so that the oil bag type buoyancy adjusting device cannot completely replace the propeller in an ROV (remote operated vehicle).
Disclosure of Invention
The invention aims to provide an ROV underwater hovering and depth-fixing control device which can flexibly control the buoyancy of an ROV to adapt to the change of the gravity and the buoyancy under different environments and work tasks and can reduce the energy consumption in the working process. Therefore, the invention adopts the technical scheme that the oil bag and the propeller are mixed to control the ROV to hover underwater and fix the depth, and the ROV underwater hovering and depth control device consists of a control box, an umbilical cable, an ROV control system, an ROV seal and pressure-resistant shell, a port vertical propeller, a starboard vertical propeller, a bow oil bag type buoyancy adjusting device and a stern oil bag type buoyancy adjusting device; the control box is connected with an ROV control system through an umbilical cable; the ROV control system arranged in the ROV sealing and pressure-resistant shell consists of a posture control module consisting of a system control module, a depth sensor, a three-axis acceleration sensor, a three-axis gyroscope and a three-axis magnetometer, a propeller driving module and a buoyancy regulating device driving module.
The system control module controls the port vertical thruster and the starboard vertical thruster through the thruster driving module, so that the ROV can dynamically hover at the target depth;
the system control module respectively calculates Thrust Thrust _ L of a port vertical thruster and Thrust Thrust _ R of a starboard vertical thruster by utilizing a PWM pulse width rotating speed and Thrust relation input by the thrusters, adds the Thrust _ L and the Thrust _ R to obtain vertical residual static load F _ static of the ROV, then gradually reduces the Thrust of the thrusters until the Thrust of the thrusters becomes zero, and controls the fore oil pocket type buoyancy regulating device and the aft oil pocket type buoyancy regulating device to pump oil or pump oil and change the volume of oil pockets of the ROV by utilizing the buoyancy regulating device driving module while reducing the Thrust of the thrusters, so that the whole buoyancy borne by the ROV is finely regulated, and the buoyancy borne by the ROV is enabled to be suspended at a target depth.
When the system control module receives a static submerging command sent by the control box, the system control module sends a command to the buoyancy regulating device driving module to control the oil bag type buoyancy regulating devices at the bow part and the stern part to pump oil from the oil bag, so that the volume of the oil bag is reduced, the buoyancy force borne by the ROV is smaller than the gravity, and the ROV submerges;
further, when the specified depth is reached, the ROV is subjected to dynamic hovering buoyancy fine adjustment, and static submerging hovering and depth setting are achieved;
further, when the system control module receives a static floating command sent by the control box, the system control module sends a command to the buoyancy regulating device driving module to control the oil bag type buoyancy regulating devices at the bow part and the stern part to pump oil into the oil bag, so that the volume of the oil bag type buoyancy regulating devices is increased, the buoyancy force borne by the ROV is larger than the gravity force, and the ROV floats upwards;
further, when the specified depth is reached, the ROV is subjected to dynamic hovering buoyancy fine adjustment, and static submerging hovering and depth setting are achieved.
The thrust output quantities of the starboard and the starboard vertical propellers during dynamic hovering and depth setting are calculated by adopting an incremental PID algorithm:
Δu1＝KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)
where k is a constant, k 21For the propeller drive module input increment, KP、KIAnd KDProportional, integral and differential coefficients, e, respectively, of the PID algorithmkThe difference between the target Depth value Depth _ target and the actual Depth value Depth _ real measured by the Depth sensor at the kth time;
further, the system control module outputs PWM pulse width PWM _ width _ L output to the port vertical thruster and PWM pulse width PWM _ width _ R output to the starboard vertical thruster according to the function relation between the PWM pulse width PWM _ width and Thrust Thrust:
Figure BDA0001569647820000021
and substituting the PWM _ width _ L and the PWM _ width _ R into a Thtust calculation formula to respectively obtain Thrust output quantities Thrust _ L and Thrust _ R of the starboard vertical thruster during dynamic hovering and fixed depth.
The invention has the characteristics and beneficial effects that:
the invention can effectively overcome the defects of poor adaptability of the gravity and buoyancy change and large energy consumption of the existing ROV underwater depth-fixing and hovering control device, can quickly adjust to restore the overall stress of the ROV to a balanced state when the overall stress of the ROV is changed due to the change of the working environment and the load, can realize the static suspension and depth-fixing work with low power consumption by utilizing the characteristics of the oil bag type buoyancy adjusting device, and prolongs the endurance time of the ROV.
Description of the drawings:
other objects and aspects of the invention will become apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which:
fig. 1 shows a general scheme structure diagram of the ROV underwater hovering and depth-fixing control system of the present invention.
Fig. 2 shows a block diagram of the ROV control system of the present invention.
In fig. 1: 1 is a control box 1; 2 is an umbilical cable; 3 is an ROV control system; 4 is an ROV sealing and pressure-resistant shell; 5 is a port vertical thruster; 6 is a starboard vertical thruster; 7 is a bow oil bag type buoyancy adjusting device; and 8 is a stern oil bag type buoyancy adjusting device.
In fig. 2: 9 is a system control module; 10 is a depth sensor; 11 is a three-axis acceleration sensor; 12 is a three-axis gyroscope; 13 is a three-axis magnetometer; 14 is an attitude control module; 15 is a propeller driving module; 16 is a buoyancy adjusting device driving module; 17 is a port vertical thruster; 18 is a starboard vertical thruster; 19 is a bow oil bag type buoyancy adjusting device; 20 is a stern oil bag type buoyancy adjusting device.
Detailed Description
The invention aims to overcome the defects of poor adaptability of the existing ROV underwater depth-fixing and hovering control device to gravity and buoyancy change and large energy consumption, and provides the ROV underwater depth-fixing and hovering control device which can flexibly control the buoyancy of an ROV and reduce energy consumption.
In order to achieve the above object, the present invention adopts a technical solution that an ROV underwater suspension and fixed depth control device controlled by an oil bag and a propeller in a hybrid manner includes:
firstly, determining the overall scheme of an ROV underwater hovering and depth setting control system, wherein the overall scheme of the ROV underwater hovering and depth setting control system is shown in figure 1 and mainly comprises a control box 1, an umbilical cable 2, an ROV control system 3, an ROV seal and pressure-resistant shell 4, a port vertical propeller 5, a starboard vertical propeller 6, a bow oil-bag type buoyancy regulating device 7 and a stern oil-bag type buoyancy regulating device 8;
an ROV control system 3 arranged in an ROV sealing and pressure-proof shell 4 is shown in figure 2 and mainly comprises a system control module 9, a depth sensor 10, an attitude control module 14 consisting of a three-axis acceleration sensor 11, a three-axis gyroscope 12 and a three-axis magnetometer 13, a propeller driving module 15 and a buoyancy adjusting device driving module 16;
further, when the ROV reaches the depth of the underwater target, the buoyancy and gravity borne by the ROV in the vertical direction are unbalanced, and the system control module 9 firstly controls the port-side vertical thruster 5 and the starboard-side vertical thruster 6 through the thruster driving module 15 to enable the ROV to dynamically hover at the depth of the target;
further, the Thrust Thrust _ L of the port vertical thruster 5 and the Thrust Thrust _ R of the starboard vertical thruster 6 are respectively calculated by utilizing the PWM pulse width rotating speed and the Thrust relation input by the thrusters, the Thrust _ L and the Thrust _ R are added to obtain the vertical residual static load force F _ static of the ROV, then the Thrust of the thrusters is gradually reduced until the Thrust of the thrusters becomes zero, and the buoyancy regulating device driving module 16 is utilized to control the fore oil pocket type buoyancy regulating device 7 and the aft oil pocket type buoyancy regulating device 8 to pump oil or pump oil and change the volume of an oil pocket of the ROV so as to finely regulate the whole buoyancy borne by the ROV and enable the ROV to bear the gravity and suspend at the target depth;
further, when the system control module 9 receives a static submerging command sent by the control box 1, a command is sent to the buoyancy adjusting device driving module 16 to control the oil bag type buoyancy adjusting devices at the bow part and the stern part to pump oil from the oil bag, so that the volume of the oil bag is reduced, the buoyancy force borne by the ROV is smaller than the gravity force, and the ROV submerges;
further, when the specified depth is reached, the ROV is subjected to dynamic hovering buoyancy fine adjustment, and static submerging hovering and depth setting are achieved;
further, when the system control module 9 receives a static floating command sent by the control box 1, a command is sent to the buoyancy adjusting device driving module 16 to control the oil bag type buoyancy adjusting devices at the bow part and the stern part to pump oil into the oil bag, so that the volume of the oil bag type buoyancy adjusting devices is increased, the buoyancy of the ROV is greater than the gravity, and the ROV floats upwards;
further, when the specified depth is reached, the ROV is subjected to dynamic hovering buoyancy fine adjustment, and static submerging hovering and depth setting are achieved.
Further, an ROV underwater dynamic hovering and depth-fixing control device is designed, when the system control module 9 receives a dynamic submerging or dynamic floating command sent by the control box 1, the ROV is subjected to dynamic hovering buoyancy fine adjustment at first, and then the port vertical propeller 5 and the starboard vertical propeller 6 are controlled to achieve ROV underwater dynamic hovering and depth-fixing.
The invention is further illustrated with reference to the following figures and examples.
The invention aims to overcome the defects of poor adaptability of the existing ROV underwater depth-fixing and hovering control device to gravity and buoyancy change and large energy consumption, and provides the ROV underwater depth-fixing and hovering control device which can flexibly control the buoyancy of an ROV and reduce energy consumption.
In order to achieve the above object, the present invention adopts a technical solution that an ROV underwater suspension and fixed depth control device controlled by an oil bag and a propeller in a hybrid manner includes:
firstly, determining the overall scheme of an ROV underwater hovering and depth setting control system, wherein the overall scheme of the ROV underwater hovering and depth setting control system is shown in figure 1 and mainly comprises a control box 1, an umbilical cable 2, an ROV control system 3, an ROV seal and pressure-resistant shell 4, a port vertical propeller 5, a starboard vertical propeller 6, a bow oil-bag type buoyancy regulating device 7 and a stern oil-bag type buoyancy regulating device 8;
an ROV control system 3 arranged in an ROV sealing and pressure-proof shell 4 is shown in figure 2 and mainly comprises a system control module 9, a depth sensor 10, an attitude control module 14 consisting of a three-axis acceleration sensor 11, a three-axis gyroscope 12 and a three-axis magnetometer 13, a propeller driving module 15 and a buoyancy regulating device driving module 16; the system control module 9 adopts STM32F407IGT6 as a main control chip, the system control module communicates with each module and the sensor through a direct interface or an RS485 interface or an SPI interface, and data is stored in an SD card;
further, when the ROV reaches the underwater target Depth _ target, the buoyancy and gravity borne by the ROV in the vertical direction are unbalanced, and the system control module 9 firstly controls the port vertical thruster 5 and the starboard vertical thruster 6 through the thruster driving module 15, so that the ROV dynamically hovers at the target Depth;
the thrust output quantity of the thruster during dynamic hovering and fixed depth is calculated by adopting an incremental PID algorithm:
Δu1＝KP·(ek-ek-1)+KI·ek+kD·(ek-2ek-1+ek-2)
where k (k ═ 2.., n) is a constant, Δ u1For the propeller drive module input increment, KP、KIAnd KDProportional, integral and differential coefficients, e, respectively, of the PID algorithmkThe difference between the target Depth value Depth _ target and the actual Depth value Depth _ real measured by the Depth sensor 10 at the kth time;
further, the present system control module 9, according to the PWM pulse width PWM _ width _ L output to the port vertical thruster 5 and the PWM pulse width PWM _ width _ R output to the starboard vertical thruster 6, by the functional relationship between the pulse width PWM _ width (unit: μ s) and the Thrust threshold (unit: kgf):
Figure BDA0001569647820000051
respectively calculating Thrust Thrust _ L of a port vertical thruster 5 and Thrust Thrust _ R of a starboard vertical thruster 6, adding Thrust _ L and Thrust _ R to obtain vertical residual static load F _ static of the ROV, gradually reducing the Thrust of the thrusters until the Thrust of the two thrusters becomes zero, controlling a fore oil sac type buoyancy regulating device 7 and a stern oil sac type buoyancy regulating device 8 to pump oil or pump oil by utilizing a buoyancy regulating device driving module 16 while reducing the Thrust of the thrusters, and changing the volume of an oil sac of the ROV so as to finely adjust the overall buoyancy of the ROV, ensure that the buoyancy of the ROV is gravity and hovers at a target Depth, wherein the longitudinal Acceleration _ z measured by a three-axis Acceleration sensor 11 is equal to 0 and the Depth _ measurement is equal to Depth _ target;
the oil pumping or pumping amount of the oil bag is calculated by adopting an incremental PID algorithm:
Δu2＝KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)
where k (k ═ 2.., n) is a constant, Δ u2Inputting increments, K, to the buoyancy adjusting device drive module 16P、KIAnd KDProportional, integral and differential coefficients, e, respectively, of the PID algorithmkThe difference between the target Depth value Depth _ target and the actual Depth value Depth _ real measured by the Depth sensor 10 at the kth time;
further, when the system control module 9 receives a Static submergence command Static _ down sent by the control box 1, an Oil _ down command is sent to the buoyancy regulating device driving module 16, Oil pocket type buoyancy regulating devices at the fore part and the aft part are controlled to pump Oil from the Oil pockets, the volume of the Oil pockets is reduced, the buoyancy borne by the ROV is smaller than the gravity, the longitudinal Acceleration Acceration _ z measured by the triaxial Acceleration sensor 11 is smaller than 0, and the ROV submerges;
further, when the target Depth _ target is reached, dynamic hovering buoyancy fine adjustment is carried out on the ROV, and static submerging hovering and Depth setting are achieved;
further, when the system control module 9 receives a Static floating command Static _ up sent by the control box 1, an instruction Oil _ up is sent to the buoyancy adjusting device driving module 16 to control the Oil bag type buoyancy adjusting devices at the fore part and the aft part to pump Oil into the Oil bags, so that the volume of the Oil bags is increased, the buoyancy force borne by the ROV is greater than gravity, at the moment, the longitudinal Acceleration Accelation _ z measured by the triaxial Acceleration sensor 11 is greater than 0, and the ROV floats upwards;
further, when the specified Depth _ target is reached, dynamic hovering buoyancy fine adjustment is carried out on the ROV, and static submerging hovering and Depth setting are achieved.
Further, when the system control module 9 receives a Dynamic submerging command Dynamic _ down or a Dynamic surfacing command Dynamic _ up sent by the control box 1, the system control module firstly performs Dynamic hovering buoyancy fine adjustment on the ROV, then controls the port vertical thruster 5 and the starboard vertical thruster 6 to realize ROV underwater Dynamic hovering and depth setting, and the thruster thrust output quantity during Dynamic hovering and depth setting is calculated by adopting an incremental PID algorithm:
△u3＝KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)，
where k (k ═ 2.., n) is a constant, △ u3For the propeller drive module input increment, KP、KIAnd KDProportional, integral and differential coefficients, e, respectively, of the PID algorithmkIs the difference between the target Depth value Depth _ target and the actual Depth value Depth _ real measured by the Depth sensor 10 at the kth time.

Claims (3)

1. An ROV underwater hovering and depth-fixing control device controlled by an oil bag and propeller in a mixed mode is characterized by comprising a control box, an umbilical cable, an ROV control system, an ROV sealing and pressure-resistant shell, a port vertical propeller, a starboard vertical propeller, a bow oil bag type buoyancy adjusting device and a stern oil bag type buoyancy adjusting device; the control box is connected with an ROV control system through an umbilical cable; the ROV control system arranged in the ROV sealing and pressure-resistant shell consists of a system control module, a depth sensor, a three-axis acceleration sensor, a three-axis gyroscope, a three-axis magnetometer and a propeller driving module, and a buoyancy regulating device driving module; the system control module controls the port vertical thruster and the starboard vertical thruster through the thruster driving module, so that the ROV can dynamically hover at the target depth;
the system control module respectively calculates Thrust Thrust _ L of a port vertical thruster and Thrust Thrust _ R of a starboard vertical thruster by utilizing a PWM pulse width rotating speed and Thrust relation input by the thrusters, adds the Thrust _ L and the Thrust _ R to obtain vertical residual static load F _ static of the ROV, then gradually reduces the Thrust of the two thrusters until the Thrust of the thrusters becomes zero, and controls a fore oil sac type buoyancy regulating device and a stern oil sac type buoyancy regulating device to pump oil or pump oil and change the volume of an oil sac of the ROV by utilizing a buoyancy regulating device driving module while reducing the Thrust of the thrusters, so that the buoyancy borne by the ROV is finely adjusted, namely the buoyancy borne by the ROV is gravity and hovers at a target depth.
2. The ROV underwater hovering and depth setting control device controlled by the oil bag and propeller combination as claimed in claim 1, wherein when the system control module receives a static submerging command sent by the control box, the system control module sends a command to the buoyancy adjusting device driving module to control the oil bag type buoyancy adjusting device at the fore part and the oil bag type buoyancy adjusting device at the aft part to pump oil from the oil bag, so as to reduce the volume of the oil bag, make the ROV subjected to buoyancy < gravity, and submerge the ROV;
further, when the specified depth is reached, the ROV is subjected to dynamic hovering buoyancy fine adjustment, and static submerging hovering and depth setting are achieved;
further, when the system control module receives a static floating command sent by the control box, the system control module sends a command to the buoyancy adjusting device driving module to control the oil bag type buoyancy adjusting device at the bow part and the oil bag type buoyancy adjusting device at the stern part to pump oil into the oil bag, so that the volume of the oil bag type buoyancy adjusting device is increased, the buoyancy force borne by the ROV is larger than the gravity, and the ROV floats upwards.
3. The ROV underwater hovering and depth setting control device controlled by the oil bag and propeller mixture according to claim 1, wherein the thrust output quantities of the port and starboard vertical propellers during dynamic hovering and depth setting are calculated by an incremental PID algorithm:
△u1＝KP·(ek-ek-1)+KI·ek+KD·(ek-2ek-1+ek-2)
where k is a constant, k 2., n, △ u1For the propeller drive module input increment, KP、KIAnd KDProportional, integral and differential coefficients, e, respectively, of the PID algorithmkThe difference between the target Depth value Depth _ target and the actual Depth value Depth _ real measured by the Depth sensor at the kth time;
further, the system control module outputs PWM pulse width PWM _ width _ L output to the port vertical thruster and PWM pulse width PWM _ width _ R output to the starboard vertical thruster according to the function relation between the PWM pulse width PWM _ width and Thrust Thrust:
Figure FDA0002313239100000011
and substituting the PWM _ width _ L and the PWM _ width _ R into a Thrust calculation formula to respectively obtain Thrust output quantities Thrust _ L and Thrust _ R of the starboard vertical thruster during dynamic hovering and fixed depth.
CN201810112445.7A 2018-02-05 2018-02-05 Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device Active CN108357656B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810112445.7A CN108357656B (en) 2018-02-05 2018-02-05 Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810112445.7A CN108357656B (en) 2018-02-05 2018-02-05 Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device

Publications (2)

Publication Number Publication Date
CN108357656A CN108357656A (en) 2018-08-03
CN108357656B true CN108357656B (en) 2020-04-10

Family

ID=63004684

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810112445.7A Active CN108357656B (en) 2018-02-05 2018-02-05 Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device

Country Status (1)

Country Link
CN (1) CN108357656B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109334923A (en) * 2018-12-10 2019-02-15 美钻深海能源科技研发（上海）有限公司 A kind of underwater crawler belt intelligent robot buoyancy regulating device
CN111208840B (en) * 2020-01-17 2023-05-02 哈尔滨工程大学 Hovering control method of deep-sea underwater robot
CN111348160A (en) * 2020-03-25 2020-06-30 中国科学院沈阳自动化研究所 Buoyancy matching calculation method for large-depth underwater robot
CN111994236B (en) * 2020-04-30 2022-07-22 中船第九设计研究院工程有限公司 Balance method for keeping anti-floating and anti-tilting state of underwater walking mechanism

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ZA885156B (en) * 1987-07-16 1989-03-29 Remotely Operated Vehicles Lim Underwater remotely controlled vehicle
CN101337578B (en) * 2008-08-27 2010-12-01 哈尔滨工程大学 Underwater robot adjusted by three oil-bags and depth-setting control method thereof
CN105383654B (en) * 2015-10-30 2018-10-26 哈尔滨工程大学 A kind of depth control apparatus of the latent device of autonomous underwater
CN106394835B (en) * 2016-10-28 2021-01-26 重庆交通大学 Underwater detection robot
CN208498772U (en) * 2018-02-05 2019-02-15 天津大学 Oil sac mixes control ROV with propeller and hovers under water and Depth control device

Also Published As

Publication number Publication date
CN108357656A (en) 2018-08-03

Similar Documents

Publication Publication Date Title
CN108357656B (en) Oil bag and propeller hybrid control ROV (remote operated vehicle) underwater hovering and depth setting control device
CN105383654A (en) Depth control device of autonomous underwater vehicle
CN106542071B (en) For the buoyancy of long voyage AUV and posture balance control method
CN105644743B (en) A kind of long-term ocean weather station observation type underwater robot of three bodies configuration
CN105644742B (en) A kind of long-term fixed point vertical section observation type underwater robot
CN103942383B (en) The dynamics and kinematics method of estimation of a kind of deep ocean work type underwater robot
Medvedev et al. Depth control methods of variable buoyancy AUV
CN113359785B (en) Microminiature AUV underwater motion and hovering control method
Kadiyam et al. Conceptual design of a hybrid propulsion underwater robotic vehicle with different propulsion systems for ocean observations
CN112591059B (en) Underwater vehicle control method
CN111547212A (en) Buoyancy control method for unpowered rapid submerged-floating AUV
CN208498772U (en) Oil sac mixes control ROV with propeller and hovers under water and Depth control device
Ahmad Mazlan A fully actuated tail propulsion system for a biomimetic autonomous underwater vehicle
Ma et al. Modelling of a subsea shuttle tanker hovering in ocean currents
Huang et al. Development and experiments of the passive buoyancy balance system for sea-whale 2000 AUV
Steenson et al. Control of an AUV from thruster actuated hover to control surface actuated flight
Ullah et al. Pitch and Depth Control of Underwater Glider using LQG and LQR via Kalman Filter.
Wang et al. Modeling and performance analysis of underwater gliders based on the virtual prototype technology
Steenson et al. Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces
Niyomka Performance and control of a collective and cyclic pitch propeller for an underwater vehicle
Cao et al. Drifting and gliding: Design of a multimodal underwater vehicle
Girard et al. Autopilots for underwater vehicles: Dynamics, configurations, and control
JP6343068B1 (en) Underwater transport aircraft
Dantas et al. Experimental research on AUV manoeuvrability
ZHANG Research on key technologies of small underwater robots

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant