SELF-BALANCING CONTROL METHOD AND SYSTEM FOR AN UNMANNED UNDERWATER VEHICLE
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United States of America Patent
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Issued Date -
Feb 18, 2021
app pub date -
Nov 4, 2020
filing date -
May 9, 2018
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Abstract
Disclosed is a self-balancing control method for an unmanned underwater vehicle (UUV) that includes: fitting the UUV vehicle with at least one reversible propeller; converting the forces the unmanned underwater vehicle is subjected to into a resultant force in each of at least one degree of freedom (DOF) of motion based on a DOF of motion control model, where each of the DOF of motion corresponds to a measurable motion control parameter; designing a corresponding sub-PID controller according to each of the at least one DOF of motion; and calculating the thrust required by each of the at least one reversible propeller based on a thrust distribution matrix.
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