CN101419464B - 一种采用矢量推进器的无人潜水器定深航行控制方法 - Google Patents
一种采用矢量推进器的无人潜水器定深航行控制方法 Download PDFInfo
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Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
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US8965682B2 (en) * | 2010-10-25 | 2015-02-24 | Lockheed Martin Corporation | Estimating position and orientation of an underwater vehicle based on correlated sensor data |
CN102346485B (zh) * | 2011-07-14 | 2013-02-27 | 哈尔滨工程大学 | 面向复杂海况的欠驱动uuv大攻角潜浮自适应串级控制方法 |
CN102887217B (zh) * | 2012-09-24 | 2014-08-13 | 天津大学 | 一种自治式水下航行器矢量推进装置 |
CN103048997A (zh) * | 2012-11-23 | 2013-04-17 | 中国科学院沈阳自动化研究所 | 一种无缆自治水下航行体的航迹控制方法 |
CN104573226B (zh) * | 2015-01-05 | 2017-10-31 | 东南大学 | 一种水下航行器的螺旋桨推力建模方法 |
CN105799902B (zh) * | 2016-03-14 | 2017-11-28 | 哈尔滨工程大学 | 一种基于万向节与蜗轮蜗杆联合控制的水下航行器矢量推进器 |
CN105629994B (zh) * | 2016-03-15 | 2018-02-27 | 浙江大学 | 一种用于管道探伤的水下机器人 |
CN106527453A (zh) * | 2016-12-06 | 2017-03-22 | 北京臻迪机器人有限公司 | 一种水下无人船定深航行控制系统及方法 |
CN110579959A (zh) * | 2018-06-07 | 2019-12-17 | 深圳市吉影科技有限公司 | 一种三推水下无人机的闭环运动控制方法及其系统 |
CN108563113B (zh) * | 2018-06-12 | 2020-11-20 | 哈尔滨工程大学 | 舰船用多回路无模型自适应艏向控制方法 |
CN111208840B (zh) * | 2020-01-17 | 2023-05-02 | 哈尔滨工程大学 | 一种深海水下机器人的悬停控制方法 |
CN111338206B (zh) * | 2020-04-23 | 2023-07-14 | 深圳市吉影科技有限公司 | 一种水下航行器的自动平衡方法及系统 |
CN112537426B (zh) * | 2020-12-04 | 2023-09-29 | 武汉第二船舶设计研究所(中国船舶重工集团公司第七一九研究所) | 舵桨协同x舵应急挽回方法及艉部推进器角度调节装置 |
CN112781448A (zh) * | 2020-12-29 | 2021-05-11 | 哈尔滨工程大学 | 一种基于入水缓冲装置的反潜导弹及控制方法 |
CN115357036B (zh) * | 2022-09-09 | 2023-03-21 | 华中科技大学 | 欠驱动水下航行器的双层抗扰深度跟踪控制方法及系统 |
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Assignee: Institute for Engineering Technology Design, College of Shipbuilding Engineering Assignor: Harbin Engineering Univ. Contract record no.: 2011230000143 Denomination of invention: Unmanned submersible depth-keeping navigation control method by employing vector thruster Granted publication date: 20100707 License type: Exclusive License Open date: 20090429 Record date: 20110810 |
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