CN109795650A - One kind " X " type tail towed body and its motion attitude control method - Google Patents
One kind " X " type tail towed body and its motion attitude control method Download PDFInfo
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- CN109795650A CN109795650A CN201910130131.4A CN201910130131A CN109795650A CN 109795650 A CN109795650 A CN 109795650A CN 201910130131 A CN201910130131 A CN 201910130131A CN 109795650 A CN109795650 A CN 109795650A
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Abstract
The present invention provides a kind of " X " type tail towed body and its motion attitude control methods, it includes shell, on the two sidewalls of the shell, and it is sequentially arranged the acceleration transducer for monitoring its acceleration and the pressure sensor for monitoring its pressure along its length；The intermediate position of the case top two sides is symmetrically installed with hydrodynamic force pressing plate；Position is equipped with monitoring device among the bottom of the shell；The tail portion of the shell is equipped with X-type empennage；The X-type empennage is connected with empennage driving device；The inside of the shell is also equipped with for driving the entire power device for pulling body.It is different from vertical tail and tailplane, and " X " type tail proposed can take into account the effect of tailplane and vertical tail, guarantee the navigation attitude stability of underwater towed vehicle,.
Description
Technical field
The invention belongs to marine monitoring field, in particular to a kind of " X " type tail towed body and its motion attitude control side
Method.
Background technique
Marine tow system is increasingly deep with ocean development as a kind of efficient hydrospace detection platform, extensively
Ground is applied to the numerous areas such as ocean research, marine monitoring, military detection, hydroacoustic electronic warfare, and plays more and more important
Effect.With the raising that countries in the world require underwater environment rapid field monitoring capability, demand of the market to such device is not
It is disconnected to increase.When the job specification of underwater environment mounted monitoring sensor requires towing body running in towed body must posture it is steady
It is fixed, and there is the flexibly quickly adjusting and control ability of depth and posture.Brainstrust all meets for exploitation always thus
The underwater towed vehicle, of this requirement and done a large amount of research work, propose and be adapted to the various forms of underwater of different purposes
Towed body.How can be fast according to required measurement track and Gesture under the premise of guaranteeing towed body attitude stabilization
Can speed neatly effectively manipulates it, be that develop a kind of underwater towed vehicle, economical and practical, with market value
Key.
Realize that the main path of underwater towed vehicle, control can be divided into two classes at present: first is that the horizontal control hydrofoil of installation, is realized
Control to towed body depth and its pitching；Second is that the vertical control hydrofoil of installation is adjusted, realize to towed body yaw and its lateral position
Control.Depth control apparatus and attitude-control device separation in existing towed body, so that overall mechanism is complicated, cost is mentioned
It is high.The inevitable influence by wave and ocean current of marine tow system in actual job, so that the track of towed body, posture
The strong interference by external environment is controlled, and is come and go, need to propose advanced control based on above-mentioned towed body active control
Theory realizes the good control to system.
Summary of the invention
Based on this, the present invention is in order to overcome prior art defect.Provide one kind " X " type tail towed body and its movement appearance
State control method, is different from vertical tail and tailplane, " X " type tail proposed, can take into account tailplane and hang down
The effect of straight tail guarantees the navigation attitude stability of underwater towed vehicle,.
In order to realize above-mentioned technical characteristic, the object of the present invention is achieved like this: a kind of " X " type tail towed body,
It includes shell, on the two sidewalls of the shell, and is sequentially arranged the acceleration for monitoring its acceleration along its length
Spend sensor and the pressure sensor for monitoring its pressure；The intermediate position of the case top two sides is symmetrically installed with hydrodynamic(al)
Force plate；Position is equipped with monitoring device among the bottom of the shell；The tail portion of the shell is equipped with X-type empennage；The X
Type tail is connected with empennage driving device；The inside of the shell is also equipped with for driving the entire power device for pulling body.
The towed body further includes control system, and the control system includes that towed body Depth control system, towed body are bowed
Face upward attitude control system and towed body rolling motion control system.
The top center of the shell is fixed with towing cable attachment base, is connected with towing cable on the towing cable attachment base.
The hydrodynamic force pressing plate is connected with the hydrodynamic force pressing plate driving device for driving it to act.
The X-type empennage includes the empennage composition of two pairs of fixed empennages of lower part and two pairs of adjustable angles of attack on top.
The power device, empennage driving device and for driving the hydrodynamic force pressing plate driving device of hydrodynamic force pressing plate to constitute
The driving device of entire towed body, the driving device includes servo motor, and the servo motor is connected with retarder, described to subtract
Fast device is connected by shaft coupling with bevel gear transmission；The output end of multiple bevel gear transmissions is filled with power respectively
Set, empennage driving device is connected with hydrodynamic force pressing plate driving device, and respectively drive X-type empennage carry out towed body attitude regulation with
And hydrodynamic force pressing plate carries out depth adjustment.
The monitoring device according to it is different need to carry temperature, salinity, pressure, marine element detection sensor or sound,
Optical physics detection sensor.
The Depth control system includes depthkeeping PID controller, the depthkeeping PID controller and the angle of attack control of hydrodynamic force pressing plate
System processed is connected, and the hydrodynamic force pressing plate attack angle control system is connected with hydrodynamic force pressing plate driving device, and controls its generator rotor angle tune
Save the depth of towed body；The current depth of pressure sensor monitoring towed body, and it is sent to depthkeeping PID controller input terminal.
The towed body pitch attitude control system includes pitch attitude PID controller and towing cable tension control system, institute
It states pitch attitude PID controller to be connected with hydrofoil attack angle control system, the hydrofoil attack angle control system and hydrofoil driving device
It is connected, the towing cable tension control system is connected with lash ship hydraulic wireline winch, is connected with towing cable on the lash ship hydraulic wireline winch, described
Hydrofoil driving device and towing cable are all connected with pitch attitude Coupling Control Unit, the pitch attitude Coupling Control Unit and dragging body phase
Even, acceleration transducer monitors the acceleration signal of towed body, and is sent to pitch attitude PID controller and the control of the hydrofoil angle of attack
System；
The towed body rolling motion control system includes rolling motion PID controller, the rolling motion PID controller
It is connected with empennage attack angle control system, the empennage attack angle control system is connected with empennage driving device, empennage driving device and X
The empennage of two pairs of adjustable angles of attack of type tail is connected；Acceleration transducer monitors the acceleration signal of towed body, and is sent to
Rolling motion PID controller.
The motion attitude control method of " X " type tail towed body described in any one, underwater towed vehicle, are connected by towing cable
Seat and towing cable be attached, by inside towed body acceleration transducer and pressure sensor distinguish the rolling of real-time monitoring towed body
Movement, pitch attitude and depth information, through towing cable transmission towed body depth, rolling motion, pitch attitude information and towed body bottom
The monitoring information of portion's monitoring device capture；
In Depth control system depthkeeping PID controller input be last moment pressure sensor monitoring towed body depth with
The difference Z of target depthd, export as should be to the external force Fz of the vertical application of towed body；The input of hydrodynamic force pressing plate attack angle control system
For Fz, export as the angle of attack θ at hydrodynamic force this moment of pressing plate；The input of hydrodynamic force pressing plate driving device is the angle of attack θ at this moment,
In conjunction with the parameter of the moment towing system, the depth z (k+1) of subsequent time is acquired, Depth control system PID control system is discrete
Equation are as follows:
In formula: T is the sampling period；Ze (n-1) and Ze (n) is depth difference acquired by n-th and (n-1)th sampling；Kp、
Ki、KdIt is proportionality coefficient, integral coefficient, differential coefficient respectively；
Hydrodynamic force pressing plate driving device is by servo motor reception defection signal, the retarder through connecting with servo motor,
The shaft coupling connecting with retarder controls the angle of attack θ of hydrodynamic force pressing plate, by Spiral Bevel Gear Transmission to realize to towed body
It is deep-controlled；
The input of pitch attitude PID controller is the towing of upper acceleration transducer monitoring in pitch attitude control system
The difference Y of body pitching movement information and target informationd, export the external force F for that should apply to towed bodyY；Towing cable tension control system
Input is FY, export the tension F for this moment towing cableY′；The input of lash ship hydraulic wireline winch is FY', it exports as this moment towing cable
Tension；The input of hydrodynamic force pressing plate attack angle control system is FY, export as the angle of attack β at hydrodynamic force this moment of pressing plate；Hydrodynamic force
The input of pressing plate driving device is the angle of attack β at this moment, and the parameter of the towing system is calculated in conjunction with pitch attitude Coupling Control Unit,
Acquire the pitch attitude information y (k+1) of subsequent time；
The input of rolling motion PID controller is dragging for last moment acceleration transducer monitoring in rolling motion control system
Drag the difference X of body rolling motion information and target informationd, export the external force F for that should apply to towed bodyZ′；The angle of attack of X-type empennage
Control system input is FZ', it exports as the angle of attack γ at X-type this moment of empennage；The empennage driving device input of X-type empennage is this
The angle of attack γ at one moment acquires the rolling motion information x (k+1) of subsequent time in conjunction with the parameter of the moment towing system；It is described
Empennage driving device receives defection signal by servo motor, and the retarder through connecting with servo motor is connect with retarder
Shaft coupling controls the angle of attack β of X-type empennage by Spiral Bevel Gear Transmission, to realize the rolling motion control to towed body.
The method have the advantages that:
1, the present invention generates the principle of lift using underwater flapping wing pitching movement, is changed by the control hydrodynamic force pressing plate angle of attack
The lift of underwater towed vehicle, changes the pitching appearance of underwater towed vehicle, by jointly controlling towing cable tension and the hydrodynamic force pressing plate angle of attack
State changes the rolling motion of underwater towed vehicle, by the control X-type empennage angle of attack.
2, the present invention integrates the control of the deep-controlled of towed body, pitch attitude control and rolling motion, not only
Energy independent control can also couple control, compare depth control apparatus and attitude-control device separation in other towed bodies, so that whole
Body mechanism is simple, and cost reduces.
3, the present invention proposes hydrodynamic force pressing plate and X-type empennage angle of attack control mode is controlled in fact by Spiral Bevel Gear Transmission
It is existing, have many advantages, such as that transmission efficiency is high, transmission ratio is stable, save space and the service life is long；
4, X-type empennage proposed by the present invention can take into account the effect of tailplane and vertical tail, guarantee underwater towed vehicle,
Navigation attitude stability；
5, the invention proposes a kind of PID control methods to towed body motion attitude control, including the depthkeeping to towed body
Control, pitch attitude control and rolling motion control.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is main view of the invention.
Fig. 2 is top view of the invention.
Fig. 3 is three-dimensional figure of the invention.
Fig. 4 is Depth control system block diagram of the invention.
Fig. 5 is pitch attitude control system block diagram of the invention.
Fig. 6 is rolling motion control system block diagram of the invention.
In figure: shell 1, acceleration transducer 2, pressure sensor 3, hydrodynamic force pressing plate driving device 4, towing cable attachment base 5,
Hydrodynamic force pressing plate 6, empennage driving device 7, X-type empennage 8, power device 9, monitoring device 10.
Specific embodiment
Embodiments of the present invention are described further with reference to the accompanying drawing.
Embodiment 1:
Referring to Fig. 1-3, a kind of " X " type tail towed body, it includes shell 1, on the two sidewalls of the shell 1, and along it
Length direction is sequentially arranged the acceleration transducer 2 for monitoring its acceleration and the pressure sensor for monitoring its pressure
3；The intermediate position of the 1 top two sides of shell is symmetrically installed with hydrodynamic force pressing plate 6；Position peace among the bottom of the shell 1
Equipped with monitoring device 10；The tail portion of the shell 1 is equipped with X-type empennage 8；The X-type empennage 8 is connected with empennage driving device 7；
The inside of the shell 1 is also equipped with for driving the entire power device 9 for pulling body.By using the towed body of above structure
It is different from vertical tail and tailplane, the effect of tailplane and vertical tail can be taken into account, guarantees the boat of underwater towed vehicle,
Row attitude stability.
Further, the towed body further includes control system, the control system include towed body Depth control system,
Towed body pitch attitude control system and towed body rolling motion control system.It can by using above-mentioned automatic control system
Further, the top center of the shell 1 is fixed with towing cable attachment base 5, connects on the towing cable attachment base 5
It is connected to towing cable.It can be provided and be connected with control system by the towing cable, and then transmit signal.
Further, the hydrodynamic force pressing plate 6 is connected with the hydrodynamic force pressing plate driving device 4 for driving it to act.It is logical
Hydrodynamic force pressing plate 6 can be driven by crossing hydrodynamic force pressing plate driving device 4.
Further, the X-type empennage 8 includes the tail of two pairs of fixed empennages of lower part and two pairs of adjustable angles of attack on top
Wing composition.The effect that tailplane and vertical tail can be taken into account by using X-type empennage 8 guarantees the navigation of underwater towed vehicle,
Attitude stability.
Further, the power device 9, empennage driving device 7 and the hydrodynamic force pressing plate for driving hydrodynamic force pressing plate 6
Driving device 4 constitutes the driving device of entire towed body, and the driving device includes servo motor, the servo motor and deceleration
Device is connected, and the retarder is connected by shaft coupling with bevel gear transmission；The output of multiple bevel gear transmissions
End be connected respectively with power device 9, empennage driving device 7 and hydrodynamic force pressing plate driving device 4, and respectively drive X-type empennage 8 into
Row towed body attitude regulation and hydrodynamic force pressing plate 6 carry out depth adjustment.
Further, the monitoring device 10 is detected according to different need to carry temperature, salinity, pressure, marine element
Sensor or sound, optical physics detection sensor.
Further, the Depth control system includes depthkeeping PID controller, the depthkeeping PID controller and hydrodynamic force
Pressing plate attack angle control system is connected, and the hydrodynamic force pressing plate attack angle control system is connected with hydrodynamic force pressing plate driving device 4, and controls
Make the depth that its generator rotor angle adjusts towed body；Pressure sensor 3 monitors the current depth of towed body, and is sent to depthkeeping PID control
Device input terminal.
Further, the towed body pitch attitude control system includes pitch attitude PID controller and towing cable tension control
System processed, the pitch attitude PID controller are connected with hydrofoil attack angle control system, the hydrofoil attack angle control system and hydrofoil
Driving device is connected, and the towing cable tension control system is connected with lash ship hydraulic wireline winch, is connected on the lash ship hydraulic wireline winch
Towing cable, the hydrofoil driving device and towing cable are all connected with pitch attitude Coupling Control Unit, the pitch attitude Coupling Control Unit
It is connected with body is pulled, acceleration transducer monitors the acceleration signal of towed body, and is sent to pitch attitude PID controller and water
Wing attack angle control system；It, can be according to towed body depth auto-adjustment control hydrofoil by above-mentioned pitch attitude control system
Attack angle control system, and then adjust its pitch angle.
Further, the towed body rolling motion control system includes rolling motion PID controller, the rolling motion
PID controller is connected with empennage attack angle control system, and the empennage attack angle control system is connected with empennage driving device 7, empennage
Driving device 7 is connected with the empennage of two pairs of adjustable angles of attack of X-type empennage 8；The acceleration of acceleration transducer monitoring towed body
Signal, and it is sent to rolling motion PID controller.It can be used in controlling X-type empennage 8 by above-mentioned rolling motion control system
The angle of attack, and then realize towed body rolling automatically control.
Embodiment 2:
The motion attitude control method of " X " type tail towed body described in any one, underwater towed vehicle, are connected by towing cable
Seat 5 and towing cable are attached, by the acceleration transducer 2 and the difference real-time monitoring towed body of pressure sensor 3 inside towed body
Rolling motion, pitch attitude and depth information, through towing cable transmission towed body depth, rolling motion, pitch attitude information and towing
The monitoring information of body bottom monitoring device capture；
The input of depthkeeping PID controller is the towed body depth that last moment pressure sensor 3 monitors in Depth control system
And the difference Z of target depthd, export as should be to the external force Fz of the vertical application of towed body；Hydrodynamic force pressing plate attack angle control system is defeated
Enter for Fz, exports as the angle of attack θ at hydrodynamic force this moment of pressing plate；The input of hydrodynamic force pressing plate driving device is the angle of attack at this moment
θ acquires the depth z (k+1) of subsequent time in conjunction with the parameter of the moment towing system, Depth control system PID control system from
Dissipate equation are as follows:
In formula: T is the sampling period；Ze (n-1) and Ze (n) is depth difference acquired by n-th and (n-1)th sampling；Kp、
Ki、KdIt is proportionality coefficient, integral coefficient, differential coefficient respectively；
Hydrodynamic force pressing plate driving device is by servo motor reception defection signal, the retarder through connecting with servo motor,
The shaft coupling connecting with retarder controls the angle of attack θ of hydrodynamic force pressing plate, by Spiral Bevel Gear Transmission to realize to towed body
It is deep-controlled；
The input of pitch attitude PID controller is the towing of upper acceleration transducer monitoring in pitch attitude control system
The difference Y of body pitching movement information and target informationd, export the external force F for that should apply to towed bodyY；Towing cable tension control system
Input is FY, export the tension F for this moment towing cableY′；The input of lash ship hydraulic wireline winch is FY', it exports as this moment towing cable
Tension；The input of hydrodynamic force pressing plate attack angle control system is FY, export as the angle of attack β at hydrodynamic force this moment of pressing plate；Hydrodynamic force
The input of pressing plate driving device is the angle of attack β at this moment, and the parameter of the towing system is calculated in conjunction with pitch attitude Coupling Control Unit,
Acquire the pitch attitude information y (k+1) of subsequent time；
The input of rolling motion PID controller is dragging for last moment acceleration transducer monitoring in rolling motion control system
Drag the difference X of body rolling motion information and target informationd, export the external force F for that should apply to towed bodyZ′；X-type empennage 8 is attacked
Angle control system input is FZ', it exports as the angle of attack γ at 8 this moment of X-type empennage；The empennage driving device 7 of X-type empennage 8 is defeated
Enter the angle of attack γ for this moment, in conjunction with the parameter of the moment towing system, acquires the rolling motion information x (k+ of subsequent time
1)；The empennage driving device 7 receives defection signal, the retarder through connecting with servo motor, with deceleration by servo motor
The shaft coupling of device connection, controls the angle of attack β of X-type empennage 8, by Spiral Bevel Gear Transmission to realize the rolling motion to towed body
Control.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as limitation of the invention, this hair
Bright protection scope should be with the technical solution of claim record, technical characteristic in the technical solution recorded including claim
Equivalents are protection scope.Equivalent replacement i.e. within this range is improved, also within protection scope of the present invention.
Claims (10)
1. a kind of " X " type tail towed body, it is characterised in that: it includes shell (1), on the two sidewalls of the shell (1), and edge
Its length direction is sequentially arranged the acceleration transducer (2) for monitoring its acceleration and the pressure for monitoring its pressure passes
Sensor (3)；The intermediate position of two sides is symmetrically installed with hydrodynamic force pressing plate (6) at the top of the shell (1)；The bottom of the shell (1)
Position is equipped with monitoring device (10) among portion；The tail portion of the shell (1) is equipped with X-type empennage (8)；The X-type empennage (8)
It is connected with empennage driving device (7)；The inside of the shell (1) is also equipped with for driving the entire power device for pulling body
(9)。
2. a kind of " X " type tail towed body according to claim 1, it is characterised in that: the towed body further includes control system
System, the control system includes towed body Depth control system, towed body pitch attitude control system and towed body rolling motion
Control system.
3. a kind of " X " type tail towed body according to claim 1, it is characterised in that: the top center position of the shell (1)
It sets and is fixed with towing cable attachment base (5), be connected with towing cable on the towing cable attachment base (5).
4. a kind of " X " type tail towed body according to claim 1, it is characterised in that: the hydrodynamic force pressing plate (6) be used for
The hydrodynamic force pressing plate driving device (4) for driving it to act is connected.
5. a kind of " X " type tail towed body according to claim 1, it is characterised in that: the X-type empennage (8) includes lower part
Two pairs of fixed empennages and top two pairs of adjustable angles of attack empennage composition.
6. a kind of " X " type tail towed body according to claim 1, it is characterised in that: the power device (9), empennage drive
Dynamic device (7) and for driving the hydrodynamic force pressing plate driving device (4) of hydrodynamic force pressing plate (6) to constitute the driving dress of entire towed body
It sets, the driving device includes servo motor, and the servo motor is connected with retarder, and the retarder passes through shaft coupling and cone
Gear drive is connected；The output end of multiple bevel gear transmissions respectively with power device (9), empennage driving device
(7) it is connected with hydrodynamic force pressing plate driving device (4), and respectively drives X-type empennage (8) and carry out towed body attitude regulation and hydrodynamic(al)
It forces plate (6) and carries out depth adjustment.
7. a kind of " X " type tail towed body according to claim 1, it is characterised in that: the monitoring device (10) is not according to
Same needs to carry temperature, salinity, pressure, marine element detection sensor or sound, optical physics detection sensor.
8. a kind of " X " type tail towed body according to claim 2, it is characterised in that: the Depth control system includes fixed
Deep PID controller, the depthkeeping PID controller are connected with hydrodynamic force pressing plate attack angle control system, the hydrodynamic force pressing plate angle of attack
Control system is connected with hydrodynamic force pressing plate driving device (4), and controls the depth that its generator rotor angle adjusts towed body；Pressure sensor
(3) current depth of towed body is monitored, and is sent to depthkeeping PID controller input terminal.
9. a kind of " X " type tail towed body according to claim 2, it is characterised in that: the towed body pitch attitude control
System includes pitch attitude PID controller and towing cable tension control system, the pitch attitude PID controller and the control of the hydrofoil angle of attack
System processed is connected, and the hydrofoil attack angle control system is connected with hydrofoil driving device, the towing cable tension control system and lash ship
Hydraulic wireline winch is connected, and is connected with towing cable on the lash ship hydraulic wireline winch, the hydrofoil driving device and towing cable all with pitch attitude
Coupling Control Unit is connected, and the pitch attitude Coupling Control Unit is connected with body is pulled, and acceleration transducer monitors adding for towed body
Speed signal, and it is sent to pitch attitude PID controller and hydrofoil attack angle control system；
The towed body rolling motion control system includes rolling motion PID controller, the rolling motion PID controller and tail
Wing attack angle control system is connected, and the empennage attack angle control system is connected with empennage driving device (7), empennage driving device (7)
It is connected with the empennage of two pairs of adjustable angles of attack of X-type empennage (8)；Acceleration transducer monitors the acceleration signal of towed body, and
It is sent to rolling motion PID controller.
10. the motion attitude control method of " X " type tail towed body described in claim 1-9 any one, it is characterised in that: water
Lower towed body is attached by towing cable attachment base (5) and towing cable, by the acceleration transducer (2) and pressure biography inside towed body
Sensor (3) difference real-time monitoring towed body rolling motion, pitch attitude and depth information, transmit towed body depth, cross through towing cable
Shake the monitoring information of movement, pitch attitude information and the capture of towed body bottom monitoring device；
In Depth control system depthkeeping PID controller input be last moment pressure sensor (3) monitoring towed body depth with
The difference Z of target depthd, export as should be to the external force Fz of the vertical application of towed body；The input of hydrodynamic force pressing plate attack angle control system
For Fz, export as the angle of attack θ at hydrodynamic force this moment of pressing plate；The input of hydrodynamic force pressing plate driving device is the angle of attack θ at this moment,
In conjunction with the parameter of the moment towing system, the depth z (k+1) of subsequent time is acquired, Depth control system PID control system is discrete
Equation are as follows:
In formula: T is the sampling period；Ze (n-1) and Ze (n) is depth difference acquired by n-th and (n-1)th sampling；Kp、Ki、Kd
It is proportionality coefficient, integral coefficient, differential coefficient respectively；
Hydrodynamic force pressing plate driving device receives defection signal by servo motor, and the retarder through connecting with servo motor and subtracts
The shaft coupling of fast device connection, controls the angle of attack θ of hydrodynamic force pressing plate, by Spiral Bevel Gear Transmission to realize the depth to towed body
Control；
The input of pitch attitude PID controller is that the towed body of upper acceleration transducer monitoring is bowed in pitch attitude control system
Face upward the difference Y of motion information and target informationd, export the external force F for that should apply to towed bodyY；The input of towing cable tension control system
For FY, export the tension F for this moment towing cableY′；The input of lash ship hydraulic wireline winch is FY', export for this moment towing cable
Power；The input of hydrodynamic force pressing plate attack angle control system is FY, export as the angle of attack β at hydrodynamic force this moment of pressing plate；Hydrodynamic force pressing plate
Driving device input is the angle of attack β at this moment, and the parameter of the towing system is calculated in conjunction with pitch attitude Coupling Control Unit, is acquired
The pitch attitude information y (k+1) of subsequent time；
The input of rolling motion PID controller is the towed body of last moment acceleration transducer monitoring in rolling motion control system
The difference X of rolling motion information and target informationd, export the external force F for that should apply to towed bodyZ′；The angle of attack of X-type empennage (8)
Control system input is FZ', it exports as the angle of attack γ at X-type empennage (8) this moment；The empennage driving device of X-type empennage (8)
(7) input is that the angle of attack γ at this moment acquires the rolling motion information of subsequent time in conjunction with the parameter of the moment towing system
x(k+1)；The empennage driving device (7) is by servo motor reception defection signal, the retarder through connecting with servo motor,
The shaft coupling being connect with retarder, by the angle of attack β of Spiral Bevel Gear Transmission control X-type empennage (8), to realize to towed body
Rolling motion control.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110702270A (en) * | 2019-10-21 | 2020-01-17 | 李恒杰 | Tail-adjustable mimicry high-prevention submarine sediment temperature detector |
| CN110949642A (en) * | 2019-12-25 | 2020-04-03 | 中国船舶重工集团有限公司第七一0研究所 | Underwater oil-filled towing cable towing adjusting device |
| CN116482984A (en) * | 2023-06-20 | 2023-07-25 | 中国船舶集团有限公司第七〇七研究所 | Model self-adaptive optimal control method and system based on ship towing rope tension monitoring |
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| CN110702270A (en) * | 2019-10-21 | 2020-01-17 | 李恒杰 | Tail-adjustable mimicry high-prevention submarine sediment temperature detector |
| CN110702270B (en) * | 2019-10-21 | 2020-12-22 | 湖州泰益智能科技有限公司 | Tail-adjustable mimicry high-prevention submarine sediment temperature detector |
| CN110949642A (en) * | 2019-12-25 | 2020-04-03 | 中国船舶重工集团有限公司第七一0研究所 | Underwater oil-filled towing cable towing adjusting device |
| CN110949642B (en) * | 2019-12-25 | 2022-01-21 | 中国船舶重工集团有限公司第七一0研究所 | Underwater oil-filled towing cable towing adjusting device |
| CN116482984A (en) * | 2023-06-20 | 2023-07-25 | 中国船舶集团有限公司第七〇七研究所 | Model self-adaptive optimal control method and system based on ship towing rope tension monitoring |
| CN116482984B (en) * | 2023-06-20 | 2023-09-05 | 中国船舶集团有限公司第七〇七研究所 | Model self-adaptive optimal control method and system based on ship towing rope tension monitoring |
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Application publication date: 20190524 |