基于不变量的遥控无人潜航器推进控制指令调整

Operation of Maritime Transport Pub Date : 2023-03-09 DOI:10.34046/aumsuomt105/30

I. Dancevich

{"title":"基于不变量的遥控无人潜航器推进控制指令调整","authors":"I. Dancevich","doi":"10.34046/aumsuomt105/30","DOIUrl":null,"url":null,"abstract":"The article proposes the development of methods for compensating for distortions occurring when specifying \nthe following types of forward-backward movement, swinging port-starboard, turning to port-starboard and \ntheir combinations. \nUncompensated stops lead to uncontrolled turns of remote-controlled devices when setting any of the types of control. \nThe controllability of underwater remote-controlled vehicles is associated with the limited field of view of the phototelevision \ncomplex in conditions of artificial lighting and a limited observation range, usually 5-7 meters. \nThe developed technology can be used for various remote-controlled and autonomous mobile objects, the power \nplant of which is built on a multi-propulsion basis","PeriodicalId":19521,"journal":{"name":"Operation of Maritime Transport","volume":"9 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2023-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"ADJUSTMENT ACCORDING TO INVARIANTS OF THE PROPULSION CONTROL COMMANDS OF A REMOTE-CONTROLLED UNMANNED UNDERWATER VEHICLE\",\"authors\":\"I. Dancevich\",\"doi\":\"10.34046/aumsuomt105/30\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The article proposes the development of methods for compensating for distortions occurring when specifying \\nthe following types of forward-backward movement, swinging port-starboard, turning to port-starboard and \\ntheir combinations. \\nUncompensated stops lead to uncontrolled turns of remote-controlled devices when setting any of the types of control. \\nThe controllability of underwater remote-controlled vehicles is associated with the limited field of view of the phototelevision \\ncomplex in conditions of artificial lighting and a limited observation range, usually 5-7 meters. \\nThe developed technology can be used for various remote-controlled and autonomous mobile objects, the power \\nplant of which is built on a multi-propulsion basis\",\"PeriodicalId\":19521,\"journal\":{\"name\":\"Operation of Maritime Transport\",\"volume\":\"9 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-03-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Operation of Maritime Transport\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.34046/aumsuomt105/30\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Operation of Maritime Transport","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.34046/aumsuomt105/30","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

本文提出了补偿在指定以下类型的前后运动、左右摇摆、转向左右和它们的组合时发生的扭曲的方法的发展。当设置任何类型的控制时，未补偿的停止导致遥控设备的不受控制的旋转。水下遥控航行器的可控性与人工照明条件下光电复合体的有限视场和有限的观察范围有关，通常为5-7米。所开发的技术可用于各种遥控和自主移动物体，其动力装置建立在多推进基础上

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

ADJUSTMENT ACCORDING TO INVARIANTS OF THE PROPULSION CONTROL COMMANDS OF A REMOTE-CONTROLLED UNMANNED UNDERWATER VEHICLE

The article proposes the development of methods for compensating for distortions occurring when specifying the following types of forward-backward movement, swinging port-starboard, turning to port-starboard and their combinations. Uncompensated stops lead to uncontrolled turns of remote-controlled devices when setting any of the types of control. The controllability of underwater remote-controlled vehicles is associated with the limited field of view of the phototelevision complex in conditions of artificial lighting and a limited observation range, usually 5-7 meters. The developed technology can be used for various remote-controlled and autonomous mobile objects, the power plant of which is built on a multi-propulsion basis

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Operation of Maritime Transport

自引率

0.00%

发文量