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弹箭与制导学报 >

2021 , Vol. 41 >Issue 4: 1 - 4

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2021.04.001

微小型水下机器人断电保护方法及艏向跟踪性能研究

  • 殷宝吉 1, 2 ,
  • 朱华伦 1, 2 ,
  • 唐文献 1, 2 ,
  • 金志坤 1, 2 ,
  • 喻宇阳 1, 2
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  • 1 江苏科技大学机械工程学院,江苏镇江 212003
  • 2 江苏科技大学江苏省船海机械先进制造及工艺重点实验室,江苏镇江 212003

殷宝吉(1987—),男,黑龙江哈尔滨人,讲师,博士,研究方向:水下机器人运动控制与故障诊断。

收稿日期: 2020-09-15

  网络出版日期: 2025-02-13

基金资助

江苏省自然科学基金(BK20190964)

江苏省高校自然科学基金(19KJB510003)

收起

Research on Power-off Protection Method and Heading Tracking Performance of Small-size Underwater Vehicle

  • YIN Baoji 1, 2 ,
  • ZHU Hualun 1, 2 ,
  • TANG Wenxian 1, 2 ,
  • JIN Zhikun 1, 2 ,
  • YU Yuyang 1, 2
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  • 1 School of Mechanical Engineering, Jiangsu University of Science and Technology, Jiangsu Zhenjiang 212003, China
  • 2 Jiangsu Provincial Key Laboratory of Advanced Manufacture and Process for Marine Mechanical Equipment, Jiangsu University of Science and Technology, Jiangsu Zhenjiang 212003, China

Received date: 2020-09-15

  Online published: 2025-02-13

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摘要

提出一种下位机关机监控方法,解决直接关闭水下机器人电源容易导致下位机主控制器系统崩溃的问题;设计一种推进器电源控制电路,解决下位机关闭后推进器突然达到最高转速问题;以不同形式、不同频率的周期信号作为期望轨迹测试水下机器人艏向跟踪性能。水池实验结果验证了所设计方法的有效性,艏向跟踪截止频率为0.03 Hz。

关键词： 水下机器人; 状态监测; 运动控制; 断电保护; 艏向跟踪性能

本文引用格式

殷宝吉 , 朱华伦 , 唐文献 , 金志坤 , 喻宇阳 . 微小型水下机器人断电保护方法及艏向跟踪性能研究[J]. 弹箭与制导学报, 2021 , 41(4) : 1 -4 . DOI: 10.15892/j.cnki.djzdxb.2021.04.001

Abstract

This article mainly conducts experimental research on small-size underwater vehicle. In order to solve the problem that directly turning off the power of the underwater vehicle will lead to the breakdown of the main controller system of the lower-level machine, a monitoring method for the lower-level machine is designed. In order to solve the problem of the thruster suddenly reaching the highest speed after the lower-level machine is turned off, a thruster power control circuit is designed. In order to test the heading tracking performance of the underwater vehicle, periodic signals of different forms and frequencies are used as expected trajectories in the tank experiment to verify the effectiveness of the designed method. The experimental results show that the heading tracking cutoff frequency is 0.03 Hz.

Key words： underwater vehicle; condition monitoring; motion control; power-off protection; heading tracking performance

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