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一种基于重心的ROV推力分配方法
Alternative TitleROV thrust distribution method based on gravity center
崔胜国; 张奇峰; 冀萌凡
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent21002 沈阳科苑专利商标代理有限公司
Country中国
Subtype发明授权
Status有权
Abstract本发明涉及一种基于重心的ROV推力分配方法,包括以下步骤:通过现场采集模块采集操纵杆的运动操作激励信号,或者通过自动运动控制获取运动激励信号;将运动激励信号代入初步推力分配公式,获取各个推进器的推力控制信号,并传递给各推进器的控制电路;调节推力分配公式中的重心系数,分别使进退及侧移尽量保持直线运动;将获取的两组重心系数进行拟合,获取进退和侧移时可共用的重心系数;拟合公式和初步推力分配公式共同组成ROV的推力分配公式。本发明简单实用,未明显增加推力分配算法的复杂度,能够提高ROV的运动性能,同时允许设计时存在微小的重心偏差,减轻了ROV的设计难度。
Other AbstractThe invention relates to an ROV thrust distribution method based on a gravity center, and the method comprises the following steps: collecting a motion operation exciting signal of an operating rod through an onsite collection module, or obtaining a motion exciting signal through automatic motion control; substituting the motion exciting signal into a preliminary thrust distribution formula, obtaining a thrust control signal of each thruster, and transmitting the thrust control signals to a control circuit of each thruster; adjusting the gravity center coefficients in a thrust distribution formula, and respectively enabling the advance and retreat and side displacement to remain linear; carrying out the fitting of two groups of obtained gravity center coefficients, and obtaining a gravitycoefficient which can be shared during the advance and retreat and side displacement; and enabling a fitting formula and the preliminary thrust distribution formula to form a thrust distribution formula of an ROV. The method is simple and practical, does not improve the complexity of a thrust distribution algorithm apparently, can improve the motion performance of the ROV, allows a miniature gravity center deviation during designing, and alleviates the design difficulty of the ROV.
PCT Attributes
Application Date2016-11-08
2018-05-22
Date Available2020-08-25
Application NumberCN201610979238.2
Open (Notice) NumberCN108062023B
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/27572
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
崔胜国,张奇峰,冀萌凡. 一种基于重心的ROV推力分配方法[P]. 2018-05-22.
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