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Alternative TitleROV thrust distribution method based on gravity center
崔胜国; 张奇峰; 冀萌凡
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
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
Date Available2020-08-25
Application NumberCN201610979238.2
Open (Notice) NumberCN108062023B
Contribution Rank1
Document Type专利
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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