Scheme Design and Key Technology Application of Multi-joint Unmanned Underwater Vehicle
Concerning the challenges of limited operational capabilities of autonomous underwater vehicles and the impaired passability caused by the externally mounted propellers on the existing chained multi-body underwater vehicles, this paper presents an overall design scheme for a multi-joint unmanned und...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Control and Information Technology
2023-12-01
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| Series: | Kongzhi Yu Xinxi Jishu |
| Subjects: | |
| Online Access: | http://ctet.csrzic.com/thesisDetails#10.13889/j.issn.2096-5427.2023.06.004 |
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| Summary: | Concerning the challenges of limited operational capabilities of autonomous underwater vehicles and the impaired passability caused by the externally mounted propellers on the existing chained multi-body underwater vehicles, this paper presents an overall design scheme for a multi-joint unmanned underwater vehicle composed of a functional carrier and a basic carrier. Initially, the structural arrangements of the functional carrier and basic carrier are introduced. Subsequently, a comprehensive exploration of the key technological principles incorporated in the scheme, such as jet manipulation, vector propulsion, folding antennas, among others is conducted. Lastly, a physical prototype of the basic carrier for the multi-joint unmanned underwater vehicle is developed, followed by successive trials in lake and sea environments. In the directional variable depth navigation tests, the depth error was no more than ±0.1 m, and the heading error was not exceeding ±1°. These experiment results validate the sailing capabilities of the basic carrier of the multi-joint unmanned underwater vehicle, thereby confirming the feasibility of the proposed design scheme for a multi-joint unmanned underwater vehicle in this paper. |
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| ISSN: | 2096-5427 |