CN105929841A - ROV attitude control method and system - Google Patents
ROV attitude control method and system Download PDFInfo
- Publication number
- CN105929841A CN105929841A CN201610507626.0A CN201610507626A CN105929841A CN 105929841 A CN105929841 A CN 105929841A CN 201610507626 A CN201610507626 A CN 201610507626A CN 105929841 A CN105929841 A CN 105929841A
- Authority
- CN
- China
- Prior art keywords
- rov
- vertical pusher
- attitude
- roll
- pitch
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000001276 controlling effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to an ROV attitude control method and system. The method includes the steps of obtaining the rotating speed of each vertical propeller in an ROV vertical propeller set when the vertical propeller remains hovering in a horizontal attitude, increasing the rotating speed of the vertical propellers on one side of an ROV body with same amplitude according to a roll attitude control parameter V-roll on the basis that each vertical propeller remains hovering in a horizontal attitude, reducing the rotating speed of the vertical propellers on the other side of the ROV body with same amplitude, increasing the rotating speed of the vertical propellers on the head portion of the ROV body with same amplitude according to pitching attitude control parameter V-pitch, reducing the rotating speed of the vertical propellers on the non-head portion of the ROV body with same amplitude, increasing or reducing the rotating speed of each vertical propeller with same amplitude according to depth control parameter V-depth, and calculating attitude output value of each vertical propeller. Multi-attitude control of an ROV can be realized without adjusting counterweight blocks.
Description
Technical field
The present invention relates to unmanned remotely controlled submersible vehicle technical field, be specifically related to a kind of ROV attitude control method
And system.
Background technology
ROV (Remote Operated Vehicle, unmanned remotely controlled submersible vehicle) is for underwater observation, inspection
The underwater robot looked into and construct.Small-sized underwater observation type ROV compact, easy to operate, under water
Detection project plays an important role.For the Detection results obtained, ROV during detection, machine
Body horizontal attitude to be in.But due to ROV small in volume, its attitude is for the change ratio of weight centre of buoyancy
More sensitive, for making ROV in horizontal attitude in water, not only need to consider each zero during manufacturing
The distribution of parts center of gravity, even needs additional balancing weight to carry out leveling.
Existing small-sized ROV just can take into account trim problem at the beginning of design, but carries or water with outside
The change of density, ROV needs to increase and decrease balancing weight, with the suspended state that is up to the standard.Tradition ROV relies on
Counterweight realizes the pose adjustment of self, has a disadvantage in that: but self center of gravity can only be relied on by counterweight, float
The stability that the heart produces relative to position carries out attitude regulation, it is impossible to carry out the switching of many attitude neatly.
Summary of the invention
In view of this, it is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of ROV attitude
Control method and system, in the many attitude control without realizing ROV on the premise of regulating balancing weight.
For realizing object above, the present invention adopts the following technical scheme that
A kind of ROV attitude control method, including:
Obtain rotating speed when each vertical pusher in ROV vertical pusher group keeps horizontal attitude to hover
(V_hovering1, V_hovering2 ... V_hoveringN), wherein, N is natural number, ROV
Each vertical pusher in vertical pusher group is symmetricly set on the both sides of ROV body；
On the basis of each vertical pusher keeps horizontal attitude hovering, according to roll gesture stability parameter
V_roll increases the rotating speed of the vertical pusher of ROV body side with amplitude, reduces ROV originally with amplitude
The rotating speed of the vertical pusher of body opposite side, wherein, V_roll >=0；
On the basis of each vertical pusher keeps horizontal attitude hovering, control parameter according to pitch attitude
V_pitch increases the rotating speed of the vertical pusher of ROV body stem with amplitude, reduces ROV originally with amplitude
The rotating speed of the vertical pusher of the non-stem of body, wherein, V_pitch >=0；
On the basis of each vertical pusher keeps horizontal attitude hovering, according to severity control parameter V_depth
Increase the rotating speed of each vertical pusher with amplitude or reduce the rotating speed of each vertical pusher with amplitude, wherein,
V_depth≥0；
According to equation below (1)～(N), calculate the attitude output valve of each vertical pusher；
V_out 1=V_hovering1-V_roll-V_pitch+V_depth (1)；
V_out 2=V_hovering2-V_roll+V_pitch+V_depth (2)；
……
V_out N=V_hoveringN+V_roll-V_pitch+V_depth (N).
Preferably, described roll gesture stability parameter V_roll obtains with specific reference to following steps:
Obtain the roll angle under ROV current state, and calculate the roll angle under current state and target roll
Error between angle；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
Obtain roll gesture stability parameter V_roll of each vertical pusher under current state.
Preferably, described pitch attitude control parameter V_pitch obtains with specific reference to following steps:
Obtain the angle of pitch under ROV current state, and calculate the angle of pitch under current state and target pitch
Error between angle；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
The pitch attitude obtaining each vertical pusher under current state controls parameter V_pitch.
Preferably, described severity control parameter V_depth obtains with specific reference to following steps:
Obtain the depth value under ROV current state, and calculate the depth value under current state and target depth
Error between value；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
Obtain severity control parameter V_depth of each vertical pusher under current state.
Preferably, each vertical pusher in described ROV vertical pusher group is symmetricly set on ROV originally
Both sides, body axis, the vertical pusher quantity of ROV body both sides is equal.
Preferably, described ROV attitude control method, also include:
Obtain the direct of travel under ROV current state, and calculate the direct of travel under current state and target
Error between direct of travel；Wherein, described ROV body is additionally provided with ROV horizontal propeller group,
Described ROV horizontal propeller is for controlling the direct of travel of ROV, in described ROV horizontal propeller group
Each horizontal propeller is symmetricly set on the both sides of described ROV body；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
The direct of travel obtaining each horizontal propeller under current state controls parameter；
Control parameter according to described direct of travel the direct of travel of each horizontal propeller is controlled.
Preferably, each horizontal propeller in described ROV horizontal propeller group is symmetricly set on ROV originally
Both sides, body axis, the horizontal propeller quantity of ROV body both sides is equal.
Preferably, having two horizontal propellers in described horizontal propeller group, said two level advances
Device is symmetricly set on the two sides of tail of ROV body.
A kind of ROV attitude control system, including:
Acquiring unit, is used for obtaining each vertical pusher in ROV vertical pusher group and keeps horizontal attitude to hang
The rotating speed (V_hovering1, V_hovering2 ... V_hoveringN) in stopping time, wherein, N is certainly
So number, each vertical pusher in ROV vertical pusher group is symmetricly set on the both sides of ROV body；
Roll posture control unit, on the basis of keeping horizontal attitude hovering in each vertical pusher,
According to roll gesture stability parameter V_roll with amplitude increase ROV body side vertical pusher turn
Speed, reduces the rotating speed of the vertical pusher of ROV body opposite side, wherein, V_roll >=0 with amplitude；
Pitch attitude control unit, on the basis of keeping horizontal attitude hovering in each vertical pusher,
According to pitch attitude control parameter V_pitch with amplitude increase ROV body stem vertical pusher turn
Speed, reduces the rotating speed of the vertical pusher of the non-stem of ROV body, wherein, V_pitch >=0 with amplitude；
Severity control unit, on the basis of keeping horizontal attitude hovering in each vertical pusher, according to
Severity control parameter V_depth increases the rotating speed of each vertical pusher or each vertically with amplitude reduction with amplitude
Angle of rake rotating speed, wherein, V_depth >=0；
Attitude calculation unit, for according to equation below (1)～(N), calculates the appearance of each vertical pusher
State output valve；
V_out 1=V_hovering1-V_roll-V_pitch+V_depth (1)；
V_out 2=V_hovering2-V_roll+V_pitch+V_depth (2)；
……
V_out N=V_hoveringN+V_roll-V_pitch+V_depth (N).
Preferably, described ROV attitude control system, also include:
Error calculation unit, for obtaining the direct of travel under ROV current state, and calculates current state
Under direct of travel and object traveling direction between error；Wherein, described ROV body is additionally provided with
ROV horizontal propeller group, described ROV horizontal propeller is for controlling the direct of travel of ROV, described
In ROV horizontal propeller group, each horizontal propeller is symmetricly set on the both sides of described ROV body；
Parameter calculation unit, for described error is inputted PID controller, so that described PID controller
Using increment type PID algorithm, the direct of travel obtaining each horizontal propeller under current state controls parameter；
Horizontal attitude control unit, for controlling parameter to each horizontal propeller according to described direct of travel
Direct of travel is controlled.
The present invention uses above technical scheme, at least possesses following beneficial effect:
This ROV attitude control method of present invention offer and system, by being symmetricly set on ROV originally
The ROV vertical pusher group of body both sides, it is achieved roll gesture stability, pitch attitude to ROV control
And severity control；By being symmetricly set on the ROV horizontal propeller group of ROV body both sides, can realize
ROV advance, retrogressing and the regulation of course angle and control, compared to existing technology, without regulating balancing weight
On the premise of realize ROV many attitude control.
Accompanying drawing explanation
The schematic flow sheet of a kind of ROV attitude control method that Fig. 1 provides for one embodiment of the invention；
A kind of ROV structural representation that Fig. 2 provides for one embodiment of the invention；
The schematic block diagram of a kind of ROV attitude control system that Fig. 3 provides for one embodiment of the invention.
Detailed description of the invention
Below by drawings and Examples, technical scheme is described in further detail.
See Fig. 1, a kind of ROV attitude control method that one embodiment of the invention provides, including:
When in step S1, acquisition ROV vertical pusher group, each vertical pusher keeps horizontal attitude hovering
Rotating speed (V_hovering1, V_hovering2 ... V_hoveringN), wherein, N is natural number,
Each vertical pusher in ROV vertical pusher group is symmetricly set on the both sides of ROV body；
Step S2, each vertical pusher keep horizontal attitude hovering on the basis of, according to roll attitude control
Parameter V_roll processed increases the rotating speed of the vertical pusher of ROV body side with amplitude, reduces with amplitude
The rotating speed of the vertical pusher of ROV body opposite side, wherein, V_roll >=0；
Step S3, each vertical pusher keep horizontal attitude hovering on the basis of, according to pitch attitude control
Parameter V_pitch processed increases the rotating speed of the vertical pusher of ROV body stem with amplitude, reduces with amplitude
The rotating speed of the vertical pusher of the non-stem of ROV body, wherein, V_pitch >=0；
Step S4, each vertical pusher keep horizontal attitude hovering on the basis of, according to severity control join
Number V_depth increases the rotating speed of each vertical pusher with amplitude or reduces turning of each vertical pusher with amplitude
Speed, wherein, V_depth >=0；
Step S5, according to equation below (1)～(N), calculate the attitude output valve of each vertical pusher；
V_out 1=V_hovering1-V_roll-V_pitch+V_depth (1)；
V_out 2=V_hovering2-V_roll+V_pitch+V_depth (2)；
……
V_out N=V_hoveringN+V_roll-V_pitch+V_depth (N).
As shown from the above technical solution, this ROV attitude control method of present invention offer and system, logical
Cross the ROV vertical pusher group being symmetricly set on ROV body both sides, it is achieved the roll attitude to ROV
Control, pitch attitude control and severity control, compared to existing technology, in the premise without regulating balancing weight
The lower many attitude realizing ROV controls.
For the ease of understanding this ROV attitude control method that the present invention provides, now vertically push away with ROV
Enter device group has four vertical pusher to be illustrated:
Seeing Fig. 2, four vertical pusher are symmetricly set on the both sides of ROV body, four vertical thrust
Device and ROV body are X layout in the projection of horizontal plane, and four vertical pusher are mainly responsible for ROV's
Roll attitude, pitch attitude, the degree of depth or height regulation；2 horizontal propellers are respectively horizontal propeller 5
With horizontal propeller 6, it is symmetricly set on the afterbody of ROV body, is responsible for course regulation and the ROV of ROV
Advance, retreat control.
Wherein, four vertical pusher are respectively vertical pusher 1, vertical pusher 2, vertical pusher
3, vertical pusher 4, wherein, vertical pusher 1 and vertical pusher 2 are arranged on a left side for ROV body
Side, vertical pusher 3 and vertical pusher 4 are arranged on the right side of ROV body；Vertical pusher 1 He
Vertical pusher 4 is arranged on the stem of ROV body, vertical pusher 2 and vertical pusher 3 and is arranged on
The middle part of ROV body.
For the ROV structural representation shown in Fig. 2, this ROV gesture stability side that the present invention provides
It is as follows that method implements step:
In step S101, acquisition ROV vertical pusher group, each vertical pusher keeps horizontal attitude hovering
Time rotating speed (V_hovering1, V_hovering2, V_hovering3, V_hovering4)；
Step S102, each vertical pusher keep horizontal attitude hovering on the basis of, according to roll attitude
Control parameter V_roll and reduce the rotating speed of vertical pusher 1 and 2 with amplitude, increase vertical thrust with amplitude
The rotating speed of device 3 and 4, wherein, V_roll >=0；
Step S103, each vertical pusher keep horizontal attitude hovering on the basis of, according to pitch attitude
Control parameter V_pitch and reduce the rotating speed of vertical pusher 1 and 4 with amplitude, increase vertical thrust with amplitude
The rotating speed of device 2 and 3, wherein, V_pitch >=0；
Step S104, each vertical pusher keep horizontal attitude hovering on the basis of, according to severity control
Parameter V_depth increases the rotating speed of vertical pusher 1,2,3,4, wherein, V_depth >=0 with amplitude；
Step S105, according to equation below (1)～(4), calculate the attitude output valve of each vertical pusher；
V_out 1=V_hovering1-V_roll-V_pitch+V_depth (1)；
V_out 2=V_hovering2-V_roll+V_pitch+V_depth (2)；
V_out 3=V_hovering3+V_roll+V_pitch+V_depth (3)；
V_out 4=V_hovering4+V_roll-V_pitch+V_depth (4).
In above formula (1)～(4), sign before roll gesture stability parameter V_roll represents respectively and turns
Speed increases and rotating speed reduces, and pitch attitude controls the sign before parameter V_pitch and severity control parameter
Sign before V_depth represents same implication.
It should be noted that above citing is intended merely to be more fully understood that this ROV appearance that the present invention provides
State control method and a kind of specific embodiment of being given, be not the restriction to implementation of the present invention, on
State the vertical pusher in vertical pusher group and can be four, it is also possible to be six or eight.
Preferably, described roll gesture stability parameter V_roll obtains with specific reference to following steps:
Obtain the roll angle under ROV current state, and calculate the roll angle under current state and target roll
Error between angle；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
Obtain roll gesture stability parameter V_roll of each vertical pusher under current state.
Preferably, described pitch attitude control parameter V_pitch obtains with specific reference to following steps:
Obtain the angle of pitch under ROV current state, and calculate the angle of pitch under current state and target pitch
Error between angle；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
The pitch attitude obtaining each vertical pusher under current state controls parameter V_pitch.
Preferably, described severity control parameter V_depth obtains with specific reference to following steps:
Obtain the depth value under ROV current state, and calculate the depth value under current state and target depth
Error between value；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
Obtain severity control parameter V_depth of each vertical pusher under current state.
Preferably, each vertical pusher in described ROV vertical pusher group is symmetricly set on ROV originally
Both sides, body axis, the vertical pusher quantity of ROV body both sides is equal.
It should be noted that realize ROV roll attitude, pitch attitude and the minimum needs of severity control four
Vertical pusher, sees the setting of each vertical pusher in Fig. 2.If the appearance that ROV to be realized is finer
State action control, can arrange six or eight vertical pusher.
Preferably, described ROV attitude control method, also include:
Obtain the direct of travel under ROV current state, and calculate the direct of travel under current state and target
Error between direct of travel；Wherein, described ROV body is additionally provided with ROV horizontal propeller group,
Described ROV horizontal propeller is for controlling the direct of travel of ROV, in described ROV horizontal propeller group
Each horizontal propeller is symmetricly set on the both sides of described ROV body；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
The direct of travel obtaining each horizontal propeller under current state controls parameter；
Control parameter according to described direct of travel the direct of travel of each horizontal propeller is controlled.
As shown from the above technical solution, this ROV attitude control method of present invention offer and system, logical
Cross the ROV horizontal propeller group being symmetricly set on ROV body both sides, ROV can be realized and advance, retreat
Regulation with course angle and control.
Preferably, each horizontal propeller in described ROV horizontal propeller group is symmetricly set on ROV originally
Both sides, body axis, the horizontal propeller quantity of ROV body both sides is equal.
Preferably, having two horizontal propellers in described horizontal propeller group, said two level advances
Device is symmetricly set on the two sides of tail of ROV body.
It should be noted that realize ROV advance, retrogressing and the regulation of course angle and control minimum needs two
Individual horizontal propeller, two horizontal propellers both can be arranged on the stem of ROV body, it is also possible to arranges
ROV body afterbody (see Fig. 2, owing in Fig. 2, ROV stem is provided with vertical pusher,
Therefore horizontal propeller is arranged on ROV afterbody).If attitude action control finer for ROV to be realized,
Four or six horizontal propellers can be set.
See Fig. 3, present invention also offers a kind of ROV attitude control system 100, including:
Acquiring unit 101, is used for obtaining each horizontal appearance of vertical pusher holding in ROV vertical pusher group
Rotating speed (V_hovering1, V_hovering2 ... V_hoveringN) during state hovering, wherein, N
For natural number, each vertical pusher in ROV vertical pusher group is symmetricly set on the two of ROV body
Side；
Roll posture control unit 102, for keeping the basis of horizontal attitude hovering in each vertical pusher
On, increase the vertical pusher of ROV body side with amplitude according to roll gesture stability parameter V_roll
Rotating speed, reduces the rotating speed of the vertical pusher of ROV body opposite side, wherein, V_roll >=0 with amplitude；
Pitch attitude control unit 103, for keeping the basis of horizontal attitude hovering in each vertical pusher
On, control parameter V_pitch according to pitch attitude and increase the vertical pusher of ROV body stem with amplitude
Rotating speed, reduce the rotating speed of vertical pusher of the non-stem of ROV body, wherein, V_pitch with amplitude
≥0；
Severity control unit 104, on the basis of keeping horizontal attitude hovering in each vertical pusher, root
The rotating speed of each vertical pusher or each vertical with amplitude reduction is increased with amplitude according to severity control parameter V_depth
Straight angle of rake rotating speed, wherein, V_depth >=0；
Attitude calculation unit 105, for according to equation below (1)～(N), calculates each vertical pusher
Attitude output valve；
V_out 1=V_hovering1-V_roll-V_pitch+V_depth (1)；
V_out 2=V_hovering2-V_roll+V_pitch+V_depth (2)；
……
V_out N=V_hoveringN+V_roll-V_pitch+V_depth (N).
Preferably, described ROV attitude control system 100, also include:
Error calculation unit 106, for obtaining the direct of travel under ROV current state, and calculates current
The error between direct of travel and object traveling direction under state；Wherein, described ROV body also sets
Being equipped with ROV horizontal propeller group, described ROV horizontal propeller is used for controlling the direct of travel of ROV,
In described ROV horizontal propeller group, each horizontal propeller is symmetricly set on the both sides of described ROV body；
Parameter calculation unit 107, for described error is inputted PID controller, so that described PID control
Device processed uses increment type PID algorithm, and the direct of travel obtaining each horizontal propeller under current state controls ginseng
Number；
Horizontal attitude control unit 108, for controlling parameter to each horizontal propeller according to described direct of travel
Direct of travel be controlled.
The present invention is not limited to above-mentioned preferred forms, and anyone can draw it under the enlightenment of the present invention
His various forms of products, no matter but in its shape or structure, make any change, every have and this Shen
Please same or like as technical scheme, within all falling within protection scope of the present invention.Term " first ",
" second " is only used for describing purpose, and it is not intended that indicate or hint relative importance.Term is " many
Individual " refer to two or more, unless otherwise clear and definite restriction.
Claims (10)
1. a ROV attitude control method, it is characterised in that including:
Obtain rotating speed when each vertical pusher in ROV vertical pusher group keeps horizontal attitude to hover
V_hoveringN, wherein, 1≤N≤n, n are natural number, in ROV vertical pusher group each vertically
Propeller is symmetricly set on the both sides of ROV body；
On the basis of each vertical pusher keeps horizontal attitude hovering, according to roll gesture stability parameter
V_roll increases the rotating speed of the vertical pusher of ROV body side with amplitude, reduces ROV originally with amplitude
The rotating speed of the vertical pusher of body opposite side, wherein, V_roll >=0；
On the basis of each vertical pusher keeps horizontal attitude hovering, control parameter according to pitch attitude
V_pitch increases the rotating speed of the vertical pusher of ROV body stem with amplitude, reduces ROV originally with amplitude
The rotating speed of the vertical pusher of the non-stem of body, wherein, V_pitch >=0；
On the basis of each vertical pusher keeps horizontal attitude hovering, according to severity control parameter V_depth
Increase the rotating speed of each vertical pusher with amplitude or reduce the rotating speed of each vertical pusher with amplitude, wherein,
V_depth≥0；
According to formula V_out N=V_hoveringN ± V_roll ± V_pitch ± V_depth, calculate and each vertically push away
Enter the attitude output valve of device.
ROV attitude control method the most according to claim 1, it is characterised in that described roll
Gesture stability parameter V_roll obtains with specific reference to following steps:
Obtain the roll angle under ROV current state, and calculate the roll angle under current state and target roll
Error between angle；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
Obtain roll gesture stability parameter V_roll of each vertical pusher under current state.
ROV attitude control method the most according to claim 1, it is characterised in that described pitching
Gesture stability parameter V_pitch obtains with specific reference to following steps:
Obtain the angle of pitch under ROV current state, and calculate the angle of pitch under current state and target pitch
Error between angle；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
The pitch attitude obtaining each vertical pusher under current state controls parameter V_pitch.
ROV attitude control method the most according to claim 1, it is characterised in that the described degree of depth
Control parameter V_depth to obtain with specific reference to following steps:
Obtain the depth value under ROV current state, and calculate the depth value under current state and target depth
Error between value；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
Obtain severity control parameter V_depth of each vertical pusher under current state.
ROV attitude control method the most according to claim 1, it is characterised in that described ROV
Each vertical pusher in vertical pusher group is symmetricly set on both sides, ROV body axis, and ROV is originally
The vertical pusher quantity of body both sides is equal.
ROV attitude control method the most according to claim 1, it is characterised in that also include:
Obtain the direct of travel under ROV current state, and calculate the direct of travel under current state and target
Error between direct of travel；Wherein, described ROV body is additionally provided with ROV horizontal propeller group,
Described ROV horizontal propeller is for controlling the direct of travel of ROV, in described ROV horizontal propeller group
Each horizontal propeller is symmetricly set on the both sides of described ROV body；
Described error is inputted PID controller, so that described PID controller uses increment type PID algorithm,
The direct of travel obtaining each horizontal propeller under current state controls parameter；
Control parameter according to described direct of travel the direct of travel of each horizontal propeller is controlled.
ROV attitude control method the most according to claim 6, it is characterised in that described ROV
Each horizontal propeller in horizontal propeller group is symmetricly set on both sides, ROV body axis, and ROV is originally
The horizontal propeller quantity of body both sides is equal.
ROV attitude control method the most according to claim 7, it is characterised in that described level
Having two horizontal propellers in propeller group, said two horizontal propeller is symmetricly set on ROV body
Two sides of tail.
9. a ROV attitude control system, it is characterised in that including:
Acquiring unit, is used for obtaining each vertical pusher in ROV vertical pusher group and keeps horizontal attitude to hang
The rotating speed V_hoveringN in stopping time, wherein, 1≤N≤n, n are natural number, ROV vertical pusher group
In each vertical pusher be symmetricly set on the both sides of ROV body；
Roll posture control unit, on the basis of keeping horizontal attitude hovering in each vertical pusher,
According to roll gesture stability parameter V_roll with amplitude increase ROV body side vertical pusher turn
Speed, reduces the rotating speed of the vertical pusher of ROV body opposite side, wherein, V_roll >=0 with amplitude；
Pitch attitude control unit, on the basis of keeping horizontal attitude hovering in each vertical pusher,
According to pitch attitude control parameter V_pitch with amplitude increase ROV body stem vertical pusher turn
Speed, reduces the rotating speed of the vertical pusher of the non-stem of ROV body, wherein, V_pitch >=0 with amplitude；
Severity control unit, on the basis of keeping horizontal attitude hovering in each vertical pusher, according to
Severity control parameter V_depth increases the rotating speed of each vertical pusher or each vertically with amplitude reduction with amplitude
Angle of rake rotating speed, wherein, V_depth >=0；
Attitude calculation unit, for according to formula
V_out N=V_hoveringN ± V_roll ± V_pitch ± V_depth, calculates the appearance of each vertical pusher
State output valve.
ROV attitude control system the most according to claim 9, it is characterised in that also include:
Error calculation unit, for obtaining the direct of travel under ROV current state, and calculates current state
Under direct of travel and object traveling direction between error；Wherein, described ROV body is additionally provided with
ROV horizontal propeller group, described ROV horizontal propeller is for controlling the direct of travel of ROV, described
In ROV horizontal propeller group, each horizontal propeller is symmetricly set on the both sides of described ROV body；
Parameter calculation unit, for described error is inputted PID controller, so that described PID controller
Using increment type PID algorithm, the direct of travel obtaining each horizontal propeller under current state controls parameter；
Horizontal attitude control unit, for controlling parameter to each horizontal propeller according to described direct of travel
Direct of travel is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507626.0A CN105929841A (en) | 2016-06-29 | 2016-06-29 | ROV attitude control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507626.0A CN105929841A (en) | 2016-06-29 | 2016-06-29 | ROV attitude control method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105929841A true CN105929841A (en) | 2016-09-07 |
Family
ID=56829393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610507626.0A Pending CN105929841A (en) | 2016-06-29 | 2016-06-29 | ROV attitude control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105929841A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065898A (en) * | 2016-12-06 | 2017-08-18 | 北京臻迪科技股份有限公司 | A kind of unmanned boat navigation control method and system under water |
| CN107688297A (en) * | 2017-09-08 | 2018-02-13 | 河海大学 | A kind of profiling motion control method of sliding cable underwater robot |
| CN107697248A (en) * | 2017-09-26 | 2018-02-16 | 哈尔滨航士科技发展有限公司 | The error and parameter correction method and method of a kind of deep ocean work humanoid robot propeller |
| CN108082422A (en) * | 2017-12-15 | 2018-05-29 | 中国南方电网有限责任公司调峰调频发电公司 | AUV Control device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH092383A (en) * | 1995-06-26 | 1997-01-07 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic control method of rov |
| CN103425070A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Method for controlling shallow water observation-level mini underwater robot |
| CN104155991A (en) * | 2014-08-25 | 2014-11-19 | 南京工程学院 | Underwater robot pose control method |
| CN104699108A (en) * | 2013-12-10 | 2015-06-10 | 中国航空工业第六一八研究所 | Multi-rotor craft control allocation method |
| CN105235842A (en) * | 2015-11-06 | 2016-01-13 | 广东博天科技股份有限公司 | Underwater robot |
| CN105404303A (en) * | 2015-12-28 | 2016-03-16 | 河海大学常州校区 | Motion control method of ROV underwater robot |
| CN105676867A (en) * | 2016-04-21 | 2016-06-15 | 南京工程学院 | ROV underwater robot suspension attitude stabilization control method |
-
2016
- 2016-06-29 CN CN201610507626.0A patent/CN105929841A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH092383A (en) * | 1995-06-26 | 1997-01-07 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic control method of rov |
| CN103425070A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Method for controlling shallow water observation-level mini underwater robot |
| CN104699108A (en) * | 2013-12-10 | 2015-06-10 | 中国航空工业第六一八研究所 | Multi-rotor craft control allocation method |
| CN104155991A (en) * | 2014-08-25 | 2014-11-19 | 南京工程学院 | Underwater robot pose control method |
| CN105235842A (en) * | 2015-11-06 | 2016-01-13 | 广东博天科技股份有限公司 | Underwater robot |
| CN105404303A (en) * | 2015-12-28 | 2016-03-16 | 河海大学常州校区 | Motion control method of ROV underwater robot |
| CN105676867A (en) * | 2016-04-21 | 2016-06-15 | 南京工程学院 | ROV underwater robot suspension attitude stabilization control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107065898A (en) * | 2016-12-06 | 2017-08-18 | 北京臻迪科技股份有限公司 | A kind of unmanned boat navigation control method and system under water |
| CN107688297A (en) * | 2017-09-08 | 2018-02-13 | 河海大学 | A kind of profiling motion control method of sliding cable underwater robot |
| CN107697248A (en) * | 2017-09-26 | 2018-02-16 | 哈尔滨航士科技发展有限公司 | The error and parameter correction method and method of a kind of deep ocean work humanoid robot propeller |
| CN108082422A (en) * | 2017-12-15 | 2018-05-29 | 中国南方电网有限责任公司调峰调频发电公司 | AUV Control device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105929841A (en) | ROV attitude control method and system | |
| CN104176250B (en) | A kind of VTOL rotor craft of the built-in duct of wing | |
| CN105259908B (en) | A kind of radar vectoring unmanned plane auto landing on deck guidance and control system and its control method | |
| CN105468009B (en) | It is applied to many power fusion flight control system and the method for micro air vehicle | |
| CN104155991A (en) | Underwater robot pose control method | |
| CN106843245A (en) | A kind of UAV Attitude control method, device and unmanned plane | |
| CN109085849A (en) | A kind of autonomous control method of Shipborne UAV accuracy | |
| CN105425812B (en) | Unmanned aerial vehicle automatic landing trajectory control method based on dual models | |
| CN106094880B (en) | Based on 12 point-supported Vertical Launch platform stance leveling control methods | |
| CN107097952A (en) | A kind of novel and multifunctional boxlike connection wing aquatic unmanned aerial vehicle | |
| CN106864738A (en) | The control method and device of a kind of unmanned plane undercarriage | |
| CN110673623B (en) | Quad-rotor unmanned aerial vehicle landing method based on dual-ring PD control algorithm control | |
| CN106927039A (en) | Vector puller system and VUAV vector tensile strength control method | |
| CN110244758A (en) | A kind of unmanned plane precisely lands control method and system | |
| CN212766696U (en) | Underwater robot motion control system and underwater robot | |
| CN104656661A (en) | Corporate aircraft descending and landing control method | |
| CN106043686A (en) | Vertical take-off and landing fixed wing aircraft | |
| CN106005469B (en) | Three tilted propeller vertical take-off and landing drone mode conversion transition corridors determine method | |
| CN108082422A (en) | AUV Control device | |
| CN109343551A (en) | A kind of gyroplane coordinate turn control method and system | |
| CN109733592A (en) | Aircraft automatic trim control method and system | |
| CN110162079B (en) | A kind of Self-balance Control System of manned whirlpool spray aircraft | |
| CN105912002A (en) | Control method for changing flight height of airplane | |
| CN107430826A (en) | Flight simulator and flight simulation method | |
| CN208325605U (en) | A kind of empennage suitable for trainer aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160907 |
|
| WD01 | Invention patent application deemed withdrawn after publication |