Real-Time Adjusting Control Method Based on Attitude Sensor Signal Feedback and Its Application in Spherical Underwater Vehicle
In order to realize a better control of a designed spherical underwater vehicle, a real-time adjusting control method based on attitude sensor signal feedback is proposed in this paper. The theory is that compute differences of the sensor data in certain time firstly then compare the differences with threshold, and a modification will be carried out if needed, otherwise, it continues to compare after a delay time. Such realtime monitoring and correcting ensure that the spherical underwater vehicle moves as expected. A lot of experiments are studied in this paper according to the new theory. The experimental results and analysis show that the real-time adjusting control method based on attitude sensor signal feedback is flexible and practical, and it realizes a better control on the spherical underwater vehicle under hydrostatic condition.
Spherical underwater vehicle Real-time Adjusting Control Sensor Signal feedback
Shuxiang Guo Juan Du Xiufen Ye Hongtao Gao Yizhou Gu
College of Automation Harbin Engineering University Harbin,Heilongjiang Province 150001,China
国际会议
2010 IEEE信息与自动化国际会议(ICIA 2010)
哈尔滨
英文
1-5
2010-06-20(万方平台首次上网日期,不代表论文的发表时间)