Error and parameter correction method of deep sea operation type robot propeller

• Main Authors: QIAO JINHE, ZHANG HAOYUAN, LUO SHANSHAN, XU LIXUE, WEI YANHUI, HONG GUOQING, HAO SHENGGONG, YAO GUIPENG, ZHU QIANG, GUO RUI
• Format: Patent
• Language: Chinese; English
• Published: 16.02.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; EQUIPMENT FOR SHIPPING; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; PERFORMING OPERATIONS; PHYSICS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; TRANSPORTING

The invention provides an error and parameter correction method of a deep sea operation type robot propeller, belongs to the technical field of underwater robots, and aims to solve the problem that the errors of the deep sea operation type robot propeller can not be deduced and corrected at present. The method comprises the following steps: step 1, performing theoretical analysis to determine error sources and establish a total error model; step 2, establishing a propeller installation angle error model under a horizontal attitude according to the total error model in the step 1; step 3, establishing a propeller installation position error model under the horizontal attitude according to the total error model in the step 1; step 4, establishing a non-horizontal attitude error model according to the total error model in the step 1; step 5, performing a pool experiment; and step 6, performing error model correction, namely completing error and parameter correction of the propeller. The error and parameter corre