一种基于双层浮体的平台动态平衡方法

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一种基于双层浮体的平台动态平衡方法

本发明涉及一种基于双层浮体的平台动态平衡方法，技术特征在于：采用粗配平和细配平两道步骤，且以浮体块配置，并采用扰动验证配平的方法，使得水下机器人能够在完成上浮、下潜、前进、后退、偏航、滚转和俯仰等动作时保证运动稳定。本浮体配置方法使得水下机器人实现了随遇平衡，使得水下机器人能够更好的适应空间中各种角度的俯仰、偏航和滚转运动。同时，简化了控制系统，降低了系统的复杂程度。

Platform dynamic balancing method based on double-layer floating bodies

The invention relates to a platform dynamic balancing method based on double-layer floating bodies. The platform dynamic balancing method based on the double-layer floating bodies is characterized in that by adopting two steps of coarse trimming and fine trimming and configuration of the floating body blocks as well as a disturbance verification and trimming method, an underwater vehicle can complete the actions of upward floating, diving, advancing, retreating, yawing, rolling and pitching stably. Due to the configuration mode of the floating bodies, the underwater vehicle achieves neutral balance and can better adapt to the pitching, yawing and rolling motion of various angles in the space. Meanwhile, a control system is simplified, and the degree of complexity of the system is lowered.