CN108082422A - 水下机器人运动控制装置 - Google Patents
水下机器人运动控制装置 Download PDFInfo
- Publication number
- CN108082422A CN108082422A CN201711349918.7A CN201711349918A CN108082422A CN 108082422 A CN108082422 A CN 108082422A CN 201711349918 A CN201711349918 A CN 201711349918A CN 108082422 A CN108082422 A CN 108082422A
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- CN
- China
- Prior art keywords
- propeller
- fuselage
- controller
- control
- vertical
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201711349918.7A CN108082422B (zh) | 2017-12-15 | 2017-12-15 | 水下机器人运动控制装置 |
Applications Claiming Priority (1)
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CN201711349918.7A CN108082422B (zh) | 2017-12-15 | 2017-12-15 | 水下机器人运动控制装置 |
Publications (2)
Publication Number | Publication Date |
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CN108082422A true CN108082422A (zh) | 2018-05-29 |
CN108082422B CN108082422B (zh) | 2020-09-11 |
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Application Number | Title | Priority Date | Filing Date |
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CN201711349918.7A Active CN108082422B (zh) | 2017-12-15 | 2017-12-15 | 水下机器人运动控制装置 |
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CN (1) | CN108082422B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108860525A (zh) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | 水下机器人 |
CN109144080A (zh) * | 2018-08-31 | 2019-01-04 | 华中科技大学 | 水下航行器艏艉联合操舵深度控制策略及其pid控制器 |
CN113419545A (zh) * | 2021-07-23 | 2021-09-21 | 西北工业大学 | 一种具有滑移管制的水下机器人优化控制方法 |
Citations (9)
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CN101024419A (zh) * | 2007-01-19 | 2007-08-29 | 哈尔滨工程大学 | 潜器全方位推进器控制装置 |
US20090031940A1 (en) * | 2007-07-31 | 2009-02-05 | Stone William C | Underwater Vehicle With Sonar Array |
CN103760909A (zh) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | 一种水下探测装置的控制系统 |
CN105292414A (zh) * | 2015-10-30 | 2016-02-03 | 深圳市泓洋汇智创新科技有限公司 | 一种水下机器人推进系统 |
CN105607476A (zh) * | 2016-01-04 | 2016-05-25 | 哈尔滨工程大学 | 一种作业型rov六自由度运动控制方法 |
CN105929841A (zh) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | 一种rov姿态控制方法及系统 |
CN106585931A (zh) * | 2016-12-22 | 2017-04-26 | 中船重工西安东仪科工集团有限公司 | 具有自主航行及姿态控制能力的航行器及控制方法 |
CN107145155A (zh) * | 2017-07-06 | 2017-09-08 | 深圳潜行创新科技有限公司 | 一种自稳系统及水下潜航器 |
CN207752374U (zh) * | 2017-12-15 | 2018-08-21 | 中国船舶重工集团公司七五0试验场 | 水下机器人运动控制装置 |
-
2017
- 2017-12-15 CN CN201711349918.7A patent/CN108082422B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101024419A (zh) * | 2007-01-19 | 2007-08-29 | 哈尔滨工程大学 | 潜器全方位推进器控制装置 |
US20090031940A1 (en) * | 2007-07-31 | 2009-02-05 | Stone William C | Underwater Vehicle With Sonar Array |
CN103760909A (zh) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | 一种水下探测装置的控制系统 |
CN105292414A (zh) * | 2015-10-30 | 2016-02-03 | 深圳市泓洋汇智创新科技有限公司 | 一种水下机器人推进系统 |
CN105607476A (zh) * | 2016-01-04 | 2016-05-25 | 哈尔滨工程大学 | 一种作业型rov六自由度运动控制方法 |
CN105929841A (zh) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | 一种rov姿态控制方法及系统 |
CN106585931A (zh) * | 2016-12-22 | 2017-04-26 | 中船重工西安东仪科工集团有限公司 | 具有自主航行及姿态控制能力的航行器及控制方法 |
CN107145155A (zh) * | 2017-07-06 | 2017-09-08 | 深圳潜行创新科技有限公司 | 一种自稳系统及水下潜航器 |
CN207752374U (zh) * | 2017-12-15 | 2018-08-21 | 中国船舶重工集团公司七五0试验场 | 水下机器人运动控制装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108860525A (zh) * | 2018-07-05 | 2018-11-23 | 上海查湃智能科技有限公司 | 水下机器人 |
CN109144080A (zh) * | 2018-08-31 | 2019-01-04 | 华中科技大学 | 水下航行器艏艉联合操舵深度控制策略及其pid控制器 |
CN113419545A (zh) * | 2021-07-23 | 2021-09-21 | 西北工业大学 | 一种具有滑移管制的水下机器人优化控制方法 |
CN113419545B (zh) * | 2021-07-23 | 2022-09-27 | 西北工业大学 | 一种具有滑移管制的水下机器人优化控制方法 |
Also Published As
Publication number | Publication date |
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CN108082422B (zh) | 2020-09-11 |
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Effective date of registration: 20210926 Address after: 511400 room 208, 100 Dongxing Road, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee after: SOUTHERN POWER GRID PEAK LOAD AND FREQUENCY REGULATION POWER GENERATION Co.,Ltd. Patentee after: NO.750 PROVING GROUND, CHINA SHIPBUILDING INDUSTRY Corp. Patentee after: Guangzhou peak frequency modulation technology development Co.,Ltd. Address before: 510635 32, Longkou East Road, Tianhe District, Guangzhou, Guangdong. Patentee before: China Southern Power Grid Tiaofeng Frequency Modulation Power Generation Company Patentee before: NO.750 PROVING GROUND, CHINA SHIPBUILDING INDUSTRY Corp. |
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Address after: 510000 room 208, 100 Dongxing Road, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee after: SOUTHERN POWER GRID PEAK LOAD AND FREQUENCY REGULATION POWER GENERATION Co.,Ltd. Patentee after: China Shipbuilding Group Co.,Ltd. No 750 Testing Ground Patentee after: China Southern power grid peak shaving and frequency modulation (Guangdong) energy storage technology Co.,Ltd. Address before: 511400 room 208, 100 Dongxing Road, Donghuan street, Panyu District, Guangzhou City, Guangdong Province Patentee before: SOUTHERN POWER GRID PEAK LOAD AND FREQUENCY REGULATION POWER GENERATION Co.,Ltd. Patentee before: NO.750 PROVING GROUND, CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: Guangzhou peak frequency modulation technology development Co.,Ltd. |
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