KR101495882B1 - Apparatus and method for controlling balance of underwater moving object - Google Patents

Abstract

Disclosed are an apparatus and a method for controlling the balance of an underwater moving object. The present invention includes a sensor part which includes at least one sensor and detects the balance of an underwater moving object, a balance determination part which determines the balance of the underwater moving object by analyzing a detection signal supplied from the sensor part and generates a balance determination signal according to the balance of the determined underwater moving object, a control part which receives the balance determination signal, responds to the received balance determination signal, and generates a control current for controlling the balance of the underwater moving object, and a centroid variation part which generates a magnetic field by responding to the control current and moves the center of gravity in the underwater moving object by changing the position of a centroid moving unit with a magnetic force generated by a magnetic field.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an attitude control system for an underwater vehicle,

The present invention relates to an apparatus and method for controlling an attitude of an underwater vehicle, and more particularly, to an apparatus and method for controlling an attitude of an underwater vehicle using an annular solenoid.

In general, an underwater vehicle refers to a device capable of forward swimming in water and capable of easily raising and lowering swimming by buoyancy control. Unlike an auger, an underwater vehicle is able to withstand water pressure depending on the characteristics of the active area underwater, and the athlete is usually implemented as a round column so that it can move at high speed against water resistance.

The underwater vehicle, which is implemented as a columnar type, controls the direction and attitude of the movement using the rudder while having propulsion. However, when the underwater vehicle stops, it becomes difficult to maintain a stable posture due to external forces such as ocean currents, waves and winds. In particular, when an underwater vehicle floats as an aquatic object for communication, measurement, or the like, it becomes more important to maintain a stable posture for stable communication and accurate measurement. However, there is a problem that the shape of the columnar underwater vehicle designed in consideration of the activity in the water tends to become more unstable in the water phase.

Nevertheless, the conventional columnar underwater vehicle has only the center of gravity positioned below the center of the circumference, and the posture is controlled by using the restoring force due to the movement of the center of gravity, which occurs when the posture changes due to external force, And does not have a separate device for controlling the posture in the state.

However, the method of controlling the posture using the restoring force by the movement of the center of gravity due to the posture change requires a long time to stabilize the posture. In addition, there is a limitation that when the external force continuously acts in the same direction, the changed posture can not be restored.

Korean Patent No. 10-1140604 (Buoyancy Holding Apparatus for Attitude Control of Underwater Vehicle, Apr. 20, 2012) discloses a prior art that describes a buoyancy holding apparatus for an underwater vehicle to solve the above-mentioned problem. However, the prior art is a one-time device, by detonating the buoyancy holding device by exploding at a predetermined depth or time. Also, it is an invention for controlling the initial attitude of an underwater vehicle which is basically launched from a ship and is available in water, and the applicable range is very limited.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an attitude control device for an underwater vehicle which can stabilize its posture even when the moving object is stopped during a stop.

Another object of the present invention is to provide a method of controlling the attitude of a moving object in the water.

According to an aspect of the present invention, there is provided an apparatus for controlling an attitude of an underwater vehicle, including: a sensor unit having at least one sensor for sensing an attitude of an underwater vehicle; An attitude determination unit for analyzing a sensing signal applied from the sensor unit to discriminate the attitude of the underwater vehicle and generating an attitude determination signal according to the determined attitude of the underwater vehicle; A control unit for receiving the attitude determination signal and generating a control current for controlling the attitude of the underwater vehicle in response to the received attitude determination signal; And a center-of-gravity variable portion for generating a magnetic field in response to the control current, and moving the center of gravity of the underwater vehicle by changing the position of the center-of-gravity moving means by a magnetic force generated by the magnetic field. .

Wherein the center-of-gravity variable portion is formed in an annular shape along an outer circumferential surface of the underwater vehicle at a center-of-gravity position of the circumferential-type underwater vehicle and has an annular cavity formed therein; A weight being disposed in the cavity as the center of gravity moving means and being embodied as a magnetic body and being movable in the cavity by the magnetic force; And generating a magnetic field in response to the control current to magnetize a corresponding region of the body and to induce the magnetic force to move within the cavity by adding the weight, At least one solenoid; And a control unit.

The at least one solenoid is disposed in a different region of the body when the plurality of solenoids are provided.

Wherein the center-of-gravity-variable portion includes: a slide means for guiding the weight-variable portion so as to easily move within the cavity; Further comprising:

The sensor unit detects the displacement, the angular velocity, and the angular acceleration of the underwater vehicle in the roll direction to generate the sensing signal.

The posture control device includes a control unit for controlling the operation of the underwater vehicle and a communication unit for providing a communication function to allow the control unit to communicate with each other; And further comprising:

And the control unit generates the control current in response to the operation control information applied through the communication unit in the controller together with the attitude determination signal.

Wherein the control unit analyzes the operation control information and generates the control current in response to the attitude determination signal when the underwater vehicle is in a stopped state.

According to another aspect of the present invention, there is provided a method of controlling an attitude of an underwater vehicle, the method comprising the steps of: forming an annular shape along an outer circumferential surface of the underwater vehicle at a center of gravity of the circumferential underwater vehicle; An attitude control device for an underwater vehicle including at least one solenoid configured to surround a body and a predetermined area of the body, a center-of-gravity variable part having a weight capable of moving inside the cavity, The method of controlling an attitude of an underwater vehicle according to claim 1, wherein the sensor unit senses an attitude of the underwater vehicle and generates a sensing signal. The attitude determining unit analyzes the sensing signal to discriminate the attitude of the underwater vehicle, and generates an attitude determining signal according to the determined attitude of the underwater vehicle; Generating a control current for controlling the attitude of the underwater vehicle in response to the attitude determination signal; And moving the center of gravity of the underwater vehicle by changing at least one solenoid of the center-of-gravity variable part in response to the control current to generate a magnetic field to change a position of the weight part; .

Accordingly, an apparatus and method for controlling an attitude of an underwater vehicle using an annular solenoid according to the present invention includes an annular structure having a rail inside a hollow centered at the center of gravity of the cylindrical underwater vehicle, a solenoid and a magnetic body And when the attitude of the underwater vehicle is changed, a current corresponding to the changed attitude is supplied to the solenoid, thereby changing the position of the weight. Therefore, even if the underwater vehicle changes its attitude due to external force, the attitude can be easily controlled and stabilized, so that the mission assigned to the underwater vehicle can be faithfully performed.

1 is a block diagram showing an attitude control apparatus for an underwater vehicle according to an embodiment of the present invention.
Figure 2 shows the roll, yaw and pitch of an underwater vehicle.
Fig. 3 shows the configuration of the center-of-gravity-variable portion of Fig.
4 shows an underwater vehicle equipped with an attitude control device according to an embodiment of the present invention.
5 illustrates a method of controlling an attitude of an underwater vehicle according to an embodiment of the present invention.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. However, the present invention can be implemented in various different forms, and is not limited to the embodiments described. In order to clearly describe the present invention, parts that are not related to the description are omitted, and the same reference numerals in the drawings denote the same members.

Throughout the specification, when an element is referred to as "including" an element, it does not exclude other elements unless specifically stated to the contrary. The terms "part", "unit", "module", "block", and the like described in the specification mean units for processing at least one function or operation, And a combination of software.

1 is a block diagram showing an attitude control apparatus for an underwater vehicle according to an embodiment of the present invention.

1, an attitude controller for an underwater vehicle according to the present invention includes a sensor unit 110, an attitude determination unit 120, a control unit 130, a center-of-gravity variable unit 140, and a communication unit 150 .

The sensor unit 110 includes at least one sensor (not shown) for sensing the attitude of the underwater vehicle. The sensor unit 110 transmits at least one sensed signal to each of the at least one sensor, which senses the attitude of the underwater vehicle, to the attitude determination unit 120. Here, the at least one sensor may include at least one gyro sensor, and in addition to the gyro sensor, a sensor such as an acceleration sensor and a compass may be further included. In the present invention, the attitude control device 100 refers to the displacement, angular velocity, and angular acceleration in the roll direction about the central axis of the columnar underwater vehicle, so that the sensor unit 110 detects the displacement in the roll direction, And at least one sensor capable of measuring the angular acceleration.

Figure 2 shows the roll, yaw and pitch of an underwater vehicle.

The roll, yaw, and pitch of the underwater vehicle 10 will be described with reference to FIG. 2. As described above, the roll is moved clockwise or counterclockwise with respect to the center axis of the circumference, It means that it rotates counterclockwise. That is, the roll represents the tilt of the underwater vehicle.

And the yaw means that the bow of the underwater vehicle 10 moves in the left or right direction by moving left and right, and the pitch means that the pitch of the underwater vehicle 10 is raised or lowered by the up and down movement of the bow of the underwater vehicle 10.

The motions of underwater motions are divided into the above three types, and according to the structural characteristics of the underwater motors, which are generally implemented in a circumferential shape, not only the changes to the yaw and pitch but also the rolls are greatly changed, It affects.

Therefore, the main object of the apparatus 100 for controlling an attitude of an underwater vehicle according to the present invention is to control a change in attitude of the underwater vehicle 10 in the roll direction. Accordingly, The angular velocity and the angular acceleration are basically detected.

1, the posture determining unit 120 determines the posture of the underwater vehicle 10 by receiving and analyzing at least one sensed signal applied from the sensor unit 110, and outputs an attitude determination signal to the control unit 130). Particularly, as described above, the posture determining unit 120 analyzes the rotational state of the underwater vehicle 10 in the roll direction to generate an attitude determination signal.

The control unit 130 receives the attitude determination signal and controls the position of the center of gravity of the underwater vehicle by driving the center-of-gravity-varying unit 140 to control the attitude of the underwater vehicle. Here, the control unit 130 may drive the center-of-gravity variable unit 140 by applying a control current to the center-of-gravity variable unit 140.

The center-of-gravity variable portion 140 is formed in an annular shape along the outer surface of the underwater vehicle at the center of gravity position in the columnar underwater vehicle 10. The inner part of the annular center-of-gravity variable part 140 is provided with a movable weight under the control of the controller 130. That is, the center-of-gravity variable unit 140 can adjust the posture by moving the center of gravity of the underwater vehicle 10 by changing the position of the weight by the control of the controller 130. The detailed configuration of the center-of-gravity variable portion 140 will be described with reference to FIG.

The communication unit 150 is provided to enable the control device 130 to communicate with a control device (not shown) of the underwater vehicle 10. The attitude control device 100 is also included in the underwater vehicle 10 to control the attitude of the underwater vehicle 10 so that the underwater vehicle 10 can be controlled in the posture of the underwater vehicle 10, It may interfere with the operation of the aircraft. For example, when the control device of the underwater vehicle 10 attempts to rotate the underwater vehicle 10 in the horizontal direction instead of the stop state, when the center of gravity variable portion 140 moves the center of gravity, It may happen that the underwater vehicle 10 can not rotate in response to the control.

Therefore, the communication unit 150 allows the controller 130 to communicate with the controller of the underwater vehicle 10 so that the controller 130 not only controls the attitude determination signal but also controls the operation of the underwater vehicle 10 So that the center-of-gravity variable portion 140 can be controlled.

For example, when the control unit 130 determines that the underwater vehicle is in the stop state as a result of the operation control information analysis, the control unit 130 may apply the control current to the center-of-gravity change unit 140 in response to the posture determination signal.

Although the posture judging unit 120 and the control unit 130 are shown separately for convenience of description, the posture judging unit 120 may be included in the control unit 130. [

Fig. 3 shows the configuration of the center-of-gravity-variable portion of Fig.

3, the center-of-gravity variable portion 140 includes a body BD formed in an annular shape, an annular cavity AN formed in the body BD, a weight BS disposed in the cavity, Slide means SL for guiding the weight BS to move easily within the cavity, and at least one solenoid SN surrounding the annular body.

The body BD is formed in an annular shape along the outer peripheral surface of the columnar underwater vehicle 10. Particularly, the body (BD) is disposed at the center of gravity position of the underwater vehicle (10). This is because, when the attitude of the underwater vehicle 10 in the roll direction is controlled, the control at the center of gravity position can be most efficiently controlled.

The cavity AN formed annularly in the body BD corresponding to the shape of the body BD provides a path through which the weight BS can move. That is, in the center-of-gravity variable portion 140, the weight BS can move along the cavity AN.

The slide means SL serves to guide the weight BS to move easily in the cavity AN. The slide means SL may be embodied by any means capable of reducing friction between the weights BS and the surface of the cavity BD in the body BD so that the weight BS can easily move within the cavity It is acceptable. For example, the slide means SL may be implemented as a rail, a bearing, or the like.

The weight BS is implemented as a magnetic body such as a permanent magnet or a magnetized iron core as a center of gravity moving means of the underwater vehicle 10, And is implemented in a movable shape. As the weight BS is realized as a magnetic body, the weight BS moves inside the cavity AN due to the magnetic force of the magnetized body when a part of the body is magnetized by at least one solenoid SN . As the weight (BS) moves, the center of gravity of the underwater vehicle (10) changes in the roll direction.

Each of the at least one solenoids SN can be realized as a magnetic field generating means and a conductor surrounding the specified part of the annular body BD. Each of the at least one solenoids SN may be assigned to different areas of the body, and a current may be separately applied from the controller 130. The current-applied solenoid SN generates a magnetic field to generate a magnetic field in the region of the corresponding body BD.

The region of the body BD where the magnetic field is generated by the at least one solenoid SN to which the current is applied is operated as a kind of magnetic body and magnetic force is applied to the weight body BS as a magnetic body, (AN). At least one solenoid (SN) must be energized to a level capable of moving a weight (BS). Also, in order to precisely control the position of the weight BS, it is preferable that a plurality of solenoids are disposed at different positions to apply a magnetic force to the weight BS.

Here, the weight (BS) must have a sufficient weight so that the center of gravity of the underwater vehicle can be varied, and the weight of the weight BS can be variously adjusted according to the weight, size and shape of the underwater vehicle. When the weight and size of the underwater vehicle 10 are increased, the weight of the weight BS must be increased in proportion thereto. Also, at least one solenoid (SN) should be configured to generate a magnetic field at a level capable of moving a weight (BS). That is, the solenoid SN should be formed in consideration of the weight and size of the weight (BS) and the friction between the cavity (AN) and the body weight (BS). Also, the number of at least one solenoid (SN) should also be determined in consideration of the shape of the body (BD) and the weight of the weight (BS).

The posture controller 100 of the underwater vehicle 10 of the present invention detects the change of the posture of the underwater vehicle 10, particularly the change of the roll direction, by using a sensor, , The posture of the underwater vehicle can be stabilized.

For example, when the underwater vehicle 10 rolls in the clockwise direction, the weight BS is moved in the same clockwise direction to increase the restoring force in the counterclockwise direction, thereby stabilizing the posture of the underwater vehicle 10 . When the rotation of the underwater vehicle 10 is actually required, the control unit 130 adjusts the position of the weight BS by reflecting the operation control information applied from the controller of the underwater vehicle, It is possible to stably control the posture both when stopping and when moving.

4 shows an underwater vehicle having an attitude control device according to an embodiment of the present invention.

4, the underwater vehicle 10 has a rounded circumferential shape and has a control device 13 for controlling the operation of the underwater vehicle and a control device 13 for controlling the underwater vehicle 10 so that the underwater vehicle 10 can move in water And a propulsion device 15 for providing propulsive force.

The underwater vehicle 10 of FIG. 4 also includes a plurality of attitude control devices 100a to 100c at the center of gravity. It has been described that the underwater vehicle 10 is provided with one posture control device 100. However, depending on the size and the weight of the underwater vehicle 10, It may be difficult to control the posture of the user. As described above, the weight of the weight BS in the posture control apparatus 100 according to the present invention should be adjusted in proportion to the size and weight of the underwater vehicle 10. This means that the weight of the weight (BS) should be made heavier depending on the size and weight of the underwater vehicle (10). However, when the weight of the weight (BS) becomes heavy, the strength of the magnetic field that must be generated in the solenoid (SN) to move the weight (BS) must also be increased. In addition, even if the slide means SL is guided, the friction between the weight BS and the inner surface of the cavity AN increases, so that the movement of the weight BS is not easy. As the size of the weight (BS) increases with the weight, the size of the posture control apparatus (100) also increases. This makes it difficult for the posture control device 100 to be disposed inside the underwater vehicle 10.

To solve this problem, the underwater vehicle 10 of FIG. 4 has a plurality of posture control devices 100a to 100c. That is, the size and weight of the weight BS for controlling the posture of the underwater vehicle 10 are dispersed in the plurality of posture controllers 100a to 100c to facilitate posture control of the underwater vehicle 10, And facilitates the arrangement of the posture control devices 100a to 100c.

The sensor unit 110, the posture judging unit 120, the rest of the posture control apparatuses 100a to 100c except for the center-of-gravity-varying unit 140 in the case where the posture control apparatuses 100 are dispersedly arranged, The control unit 130, and the communication unit 150 may be provided so as to be jointly usable.

5 illustrates a method of controlling an attitude of an underwater vehicle according to an embodiment of the present invention.

5, the sensor unit 110 of the posture control apparatus 100 detects a change in the posture of the underwater vehicle 10 (S10). The sensor unit 110 particularly analyzes the rotation state of the underwater vehicle 10 in the roll direction, generates an attitude determination signal, and transmits the attitude determination signal to the attitude determination unit 120.

The posture determination unit 120 analyzes the posture determination signal applied from the sensor unit 110, determines the posture of the underwater vehicle 10, and generates an attitude determination signal (S20). And transmits an attitude determination signal to the control unit 130. [

The controller 130 receives the attitude determination signal from the attitude determination unit 120 and receives and acquires the operation control information from the controller 13 of the underwater vehicle 10 (S30). Then, the control unit 130 analyzes the received posture determination signal and the motion control information to determine whether posture control of the underwater vehicle 10 is necessary (S40).

If it is determined that the posture control is not necessary, the sensor unit 110 detects the posture change of the underwater vehicle (S10). However, if it is determined that the posture control is required, the controller 130 calculates a position at which the weight BS of the center-of-gravity-variable portion 140 is moved to control the posture of the underwater vehicle 10 (S50). That is, the amount of current to be applied to the solenoid SN is calculated to move the weight BS to the calculated position (S60). If the center-of-gravity variable portion 140 includes a plurality of solenoids SN, the amount of current to be applied to each of the plurality of solenoids may be individually calculated.

When the amount of current to be applied to the solenoid SN is calculated, the controller 130 drives the solenoid SN by applying the calculated current to the solenoid SN, and by the magnetic field generated by the driven solenoid SN As the weight (BS) moves, the attitude of the underwater vehicle (10) is controlled.

The method according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and a carrier wave (for example, transmission via the Internet). The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art.

Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (14)

A sensor unit having at least one sensor for sensing an attitude of an underwater vehicle;
An attitude determination unit for analyzing a sensing signal applied from the sensor unit to discriminate the attitude of the underwater vehicle and generating an attitude determination signal according to the determined attitude of the underwater vehicle;
A control unit for receiving the attitude determination signal and generating a control current for controlling the attitude of the underwater vehicle in response to the received attitude determination signal; And
A center of gravity varying unit for generating a magnetic field in response to the control current and for changing a position of the center of gravity moving means by a magnetic force generated by the magnetic field to move the center of gravity of the underwater vehicle; Lt; / RTI >
The center-of-
A body formed in an annular shape along an outer circumferential surface of the underwater vehicle at a center of gravity position of the cylindrical type of underwater vehicle and having an annular cavity formed therein;
A weight being disposed in the cavity as the center of gravity moving means and being embodied as a magnetic body and being movable in the cavity by the magnetic force; And
Each of which is configured to enclose a predetermined region of the body and to generate the magnetic field in response to the control current to magnetize a corresponding region of the body to induce the magnetic force to move within the cavity, At least one solenoid; And a controller for controlling the posture of the underwater vehicle. delete 2. The apparatus of claim 1, wherein the at least one solenoid
Wherein the plurality of solenoids are disposed in different areas of the body when the plurality of solenoids are provided. 2. The apparatus of claim 1, wherein the center-of-
A slide means for guiding the weight to easily move within the cavity; And a control unit for controlling the posture of the underwater vehicle. The apparatus of claim 1, wherein the sensor unit
Wherein the sensing signal is generated by sensing displacement, angular velocity, and angular acceleration of the underwater vehicle in the roll direction. The apparatus according to claim 1, wherein the posture control device
A control unit for controlling the operation of the underwater vehicle and a communication unit for providing a communication function for the control unit to communicate with each other; And a control unit for controlling the posture of the underwater vehicle. 7. The apparatus of claim 6, wherein the control unit
And the control unit generates the control current in response to the operation control information applied through the communication unit in the controller together with the attitude determination signal. 8. The apparatus of claim 7, wherein the control unit
Wherein the controller is configured to analyze the operation control information to generate the control current in response to the attitude determination signal when the underwater vehicle is in a stopped state. At least one solenoid configured to be annular along an outer circumferential surface of the underwater vehicle at a center of gravity position of a cylindrical type of underwater vehicle and configured to surround a predetermined region of the body, A method of controlling an attitude of an underwater vehicle using an underwater vehicle posture control device including a center of gravity variable portion having a movable weight, a sensor portion, an attitude determination portion, and a control portion,
Sensing the posture of the underwater vehicle and generating a sensing signal;
The attitude determining unit analyzes the sensing signal to discriminate the attitude of the underwater vehicle, and generates an attitude determining signal according to the determined attitude of the underwater vehicle;
Generating a control current for controlling the attitude of the underwater vehicle in response to the attitude determination signal; And
Moving the center of gravity of the underwater vehicle by changing at least one solenoid of the center-of-gravity variable part in response to the control current to generate a magnetic field to change a position of the weight; Lt; / RTI >
The at least one solenoid
Wherein the plurality of solenoids are disposed in different areas of the body, respectively. delete 10. The method of claim 9, wherein generating the control current comprises:
Determining whether an attitude control of the underwater vehicle is necessary in response to the attitude determination signal;
Calculating a position at which the weight should be moved to control the attitude of the underwater vehicle if it is determined that the attitude control of the underwater vehicle is required; And
Selecting at least one solenoid for moving the weight among the plurality of solenoids and calculating a current amount of a control current to be applied to the selected solenoid; And controlling the orientation of the underwater vehicle. 12. The apparatus according to claim 11, wherein the posture control device
Further comprising a control unit for controlling the operation of the underwater vehicle and a communication unit for providing a communication function for the control unit to communicate with each other,
The step of determining whether the posture control is necessary
Wherein the control means analyzes the operation control information together with the attitude determination signal to determine whether the attitude control of the underwater vehicle is necessary. 13. The method according to claim 12, wherein the step of determining whether the posture control is necessary
Wherein the control means analyzes the operation control information to determine whether the attitude control of the underwater vehicle is necessary in response to the attitude determination signal when the underwater vehicle is at rest. 10. The method of claim 9, wherein generating the sense signal comprises:
And detecting the displacement, angular velocity, and angular acceleration of the underwater vehicle in the roll direction to generate the sensing signal.

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