摘要
文章介绍了一种基于矢量推进方式的新型水下运载器的概念设计,提出了使用光纤微电缆(FOMC)连接蓝牙浮标实现半无线通信并应用于水下运载器的理念,对运载器的本体设计和控制方式进行了阐述,另外还基于MATLAB对控制上位机进行了仿真。作为一种新型水下机器人,它可以通过半无线控制,轻便灵活,实现五个自由度的运动,能在半人工控制和半自主运动的模式下,实现水下悬停、定深运动并能灵活回转和爬升下潜等,成为一种兼具ROV和AUV优点的混合型水下半自主航行器。
The conceptual design of a New Hybrid Vectored Thruster AUV is described. The new idea to achieve semi wireless communication with a Bluetooth Buoy connected with a zero buoyancy cable together with the application of this communication system to the underwater vehicles is proposed. The structural design and the control strategy are described. The control strategy based on MATLAB is simulated. As a new kind of underwater robot, it can achieve six degrees of freedom and moved flexibly through semi-wireless control. In semi-manual control and semi-autonomous movement patterns, it can hover, turn around, climb or dive to an arbitrary depth in the designed range, which makes it a new ROV-AUV hybrid underwater vehicle.
出处
《船舶工程》
北大核心
2015年第8期107-110,共4页
Ship Engineering
