CN105652878B - The submarine target low speed that a kind of multi-thruster combines approaches and hovering submariner body - Google Patents
The submarine target low speed that a kind of multi-thruster combines approaches and hovering submariner body Download PDFInfo
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Abstract
The invention discloses the submarine target low speed that a kind of multi-thruster combines to approach and hovering submariner body, which is characterized in that further includes：Horizontal propeller, vertical thrusters and two sideways-acting propellers；Horizontal propeller is fixedly connected on the positive tail portion of submariner body, and axis is overlapped with the axis of submariner body；A vertical channels are opened up at the hull position of submariner body, vertical thrusters are fixedly connected on the inner wall of vertical channels；The horizontal channel that a level runs through submariner body is opened up respectively in submariner body boat body bow section and stern section, it is preceding sideways-acting propeller that one sideways-acting propeller, which is fixedly connected on the inner wall of bow section horizontal channel, it is rear sideways-acting propeller that another sideways-acting propeller, which is fixedly connected on the inner wall of stern section horizontal channel, and the propeller of two sideways-acting propellers is towards on the contrary.Accurate Hovering control when the invention is for solving the problems, such as that long-range AUV carries out closely being aligned around suspicious submarine target observation or processing target.
Description
Technical field
The present invention relates to underwater navigation technical fields；The submarine target low speed that specifically a kind of multi-thruster combines approach with
Hover submariner body.
Background technology
Long-range AUV is a kind of cableless underwater robot, be widely used in seafari, marine hydrology detection, Underwater Engineering,
The fields such as submarine target processing.Conventional detecting AUV is usually only configured with a set of horizontal propeller, a set of horizontal steering engine, one
Vertical steering wheel is covered, this just determines that it can only carry out motion detection in water, certain bearing cannot carry out hovering control in ocean
System carries out suspicious object to approach alignment observation.As the demands of long-range AUV militarily are more and more, to long-range AUV's
More stringent requirements are proposed for motion control.In order to expand the operation function of long-range AUV and use field, in AUV high speed operations,
Tail portion horizontal propeller and servos control submariner body should be used to move.It is low when requiring submariner body to reach certain fixation target point progress
It, can not possibly completion task if tail portion main thruster is only leaned on to be clearly when speed approaches observation or processing target.
Invention content
In view of this, the submariner body that approaches and hover the present invention provides the submarine target low speed that a kind of multi-thruster combines,
Closely be aligned accurate Hovering control when observation or processing target for solving long-range AUV around suspicious submarine target
Problem.
In order to achieve the above object, the technical scheme is that：The submarine target low speed that a kind of multi-thruster combines supports
Closely with hovering submariner body, further include：Horizontal propeller, vertical thrusters and two sideways-acting propellers.
The horizontal propeller is fixedly connected on the positive tail portion of submariner body, and axis is overlapped with the axis of submariner body.
A vertical channels are opened up at the hull position of submariner body, vertical thrusters are fixedly connected on the interior of vertical channels
On wall.
The horizontal channel that a level runs through submariner body is opened up respectively in submariner body boat body bow section and stern section, and one laterally pushes away
It is preceding sideways-acting propeller to be fixedly connected on into device on the inner wall of bow section horizontal channel, another sideways-acting propeller is fixedly connected on stern
It is rear sideways-acting propeller on the inner wall of section horizontal channel, the propeller of two sideways-acting propellers is towards on the contrary.
Further, submariner body includes：It is shell, inertial navigation set INS, automatic pilot, power control unit, vertical
The mechanical, electrical source control unit of steering engine, hydroplane, depth gauge, Doppler log DVL and radio station.
Shell is streamlined shell.
INS receives the measurement data from DVL, and it is combined calculating with the information of INS internal sensors detection, obtains
The azimuth information and posture information of submariner body are simultaneously exported to automatic pilot；
Automatic pilot receives the azimuth information that INS is transmitted and the depth information that posture information and depth gauge transmit, by
After setting control algolithm operation in submariner body, output is for horizontal propeller, horizontal steering engine, vertical steering wheel, sideways-acting propeller, vertical
The control instruction of propeller, controlled level propeller, horizontal steering engine, around vertical steering wheel high speed operation to target point are then low
Speed approaches target：Sideways-acting propeller, vertical thrusters, horizontal propeller and horizontal steering engine are controlled, is hanged around target
Stop；
When low speed approaches target：Controlled level propeller is to control the back-and-forth motion speed of submariner body；Control laterally pushes away
To control the course of submariner body or the rotary motion of directive property is carried out into device and vertical thrusters；Control vertical thrusters and level
The depth of steering engine co- controlling submariner body.
Power control unit provides electric energy supply for entire submariner device.
Vertical steering wheel is mounted on submariner body stern section rear portion flow section, and two pieces of vertical rudder faces of vertical steering wheel are two above and below shell
While being symmetrically installed, inside housings, the controller of vertical steering wheel receives control for driving motor and the controller installation of vertical steering wheel
Instruction controls the driving motor rotation of vertical steering wheel, vertical rudder face is driven to run to specified angle.
The horizontal steering engine is mounted on submariner body stern section rear portion flow section, and two pieces of horizontal rudder faces of horizontal steering engine are on a shell left side
Right both sides are symmetrically installed, and driving motor and the controller installation of horizontal steering engine are inside housings；The controller of horizontal steering engine receives
Control instruction, the driving motor rotation of controlled level steering engine, the horizontal rudder face of driving run to specified angle.
The depth gauge is used for measuring the current depth information of submariner body.
The DVL is used for measuring the speed of submariner body advance and from water-bed height, and measurement data is issued INS.
Radio station is mounted on inside submariner body, for receiving external manipulation tasks information.
Further, control algolithm includes following 7 algorithms：
Deep-controlled algorithm when algorithm one, submariner body high speed operation：
H_rud_set_angle=d1×(depth-depth0)-d2×pitching_angle×E；
Depth is submariner body current depth, is obtained by depth gauge；Depth0 is that the preset target of submariner body is deep
Degree；d1It is preset deep-controlled coefficient in horizontal steering engine；d2It is preset pitch angle control coefrficient in horizontal steering engine；E is angle
Conversion coefficient；Pitching_angle is the pitch angle of the submariner body obtained by inertial navigation；H_rud_set_angle is calculated
The control angle of horizontal steering engine；
Heading control algorithm is as follows when algorithm two, submariner body high speed operation：
Vct_rud_set_angle=course_para3 × [H × (course-course0)-G × course_
speed]
Course is the current course of submariner body, is obtained by INS；Course0 is the bogey heading of preset submariner body；
Course_para3 is preset Heading control coefficient in horizontal steering engine；H has to be preset in horizontal steering engine with course
The Heading control parameter of pass；G is preset Heading control parameter related with course angular speed in horizontal steering engine；course_
Speed is course angular speed, is obtained by INS；Vct_rud_set_angle is the control angle of calculated vertical steering wheel；
Algorithm three, submariner body lowsteaming speed control algorithm be：
Mmotor_speed=speed_para × [A1×(speed-speed0)-B1×(speed1-speed0)-C1×
(speed2-speed0)]
Speed is submariner body present speed, is obtained by DVL；Speed0 is the preset speed of submariner body；Speed1 is
The speed of submariner body last moment；Speed2 is the speed at upper moment on submariner body；Speed_para is preset speed control
Proportionality coefficient；Mmotor_speed is the control speed of calculated horizontal propeller, A1、B1And C1Respectively preset water
The control parameter of flat propeller；
Heading control algorithm is as follows when algorithm four, submariner body lowsteaming：
Fcmotor_speed=course_para × [A2×(course-course0)-B2×(course1-
course0)-C2×(course2-course0)]/[1+fabs(mmotor_speed)/D1]；
Bcmotor_speed=-course_para × [A3×(course-course0)-B3×(course1-
course0)-C3×(course2-course0)]/[1+fabs(mmotor_speed)/D2]；
Course0 is preset submariner body bogey heading；Course is the current course of submariner body；Course1 is submariner body
The course of last moment；Course2 is the course at upper moment on submariner body；Course_para is the ratio of preset Heading control
Example coefficient；Mmotor_speed is the control speed of horizontal propeller；A2、B2And C2Respectively preset preceding sideways-acting propeller
Control parameter；D1For preset preceding sideways-acting propeller acting factor；Fcmotor_speed is calculated preceding sideways-acting propeller
Control speed；A3、B3And C3The control parameter of respectively preset rear sideways-acting propeller；D2It is that preset rear sideways-acting propeller is made
Use the factor；Bcmotor_speed is the control speed of calculated rear sideways-acting propeller；Fabs is the function that takes absolute value；
Deep-controlled algorithm is as follows when algorithm five, submariner body lowsteaming：
Vmotor_speed=depth_para × [A4×(depth-depth0)-B4×(depth1-depth0)–C4×
(depth2-depth0)]/[1+fabs(speed)/F]；
H_rud_set_angle2=depth_para1 × (depth-depth0)-depth_para2 × pitching_
angle×π/180；
Depth0 is preset submariner body target depth；Depth is submariner body current depth；Depth1 is one on submariner body
The depth at moment；Depth2 is the depth at upper moment on submariner body；Depth_para is the deep-controlled ratio of preset submariner body
Example coefficient；Speed is submariner body present speed；Fabs is the function that takes absolute value, and F is preset speed impact factor；A4、B4With
C4The control parameter of respectively preset vertical pusher；Depth_para1 is the deep-controlled coefficient of preset steering engine；depth_
Para2 is preset steering engine pitch angle control coefrficient；Pitching_angle is the pitch angle of the submariner body obtained by inertial navigation；
Vmotor_speed is the control speed of calculated vertical thrusters, and h_rud_set_angle2 is calculated level at this time
The control angle of steering engine；
The algorithm of distance controlling when algorithm six, the hovering alignment of submariner body is as follows：
Mmotor_speed2=dis_para × [A5×(distance-distance0)-B5×(distance1-
distance0)-C5×(distance2-distance0)]/[1+fabs(speed/F1)]；
Distance0 is setting observation safe distance of the submariner body from target point；Distance is submariner body from target point
Distance；Distance1 is submariner body last moment with a distance from target point；Distance2 be on submariner body the upper moment from mesh
The distance of punctuate；Dis_para is the proportionality coefficient of preset distance controlling；Mmotor_speed2 is calculated level at this time
The control speed of propeller；F1For preset speed impact factor, A5、B5、C5For preset submariner body distance controlling parameter；
The control algolithm that algorithm seven, submariner body surrounding target carry out hovering rotation is as follows：
Fcmotor_speed1=course_para1 × [A2×(course-course0)-B2×(course1-
course0)-C2×(course2-course0)]/(1+fabs(mmotor_speed3)/D1)；
Bcmotor_speed1=-1200+course_para2 × [A3×(course-course0)-B3×
(course1-course0)-C3×(course2-course0)])/[1+fabs(mmotor_speed3)/D2]；
Course is the current course of submariner body；Course1 is the course of submariner body last moment；Course2 is submariner body
The course at upper upper moment；Course0 is preset submariner body bogey heading；Course_para1 be in preset Heading control before
The proportionality coefficient of side propeller；Course_para2 is the proportionality coefficient of rear side propeller in preset Heading control；mmotor_
Speed3 is the control speed of horizontal propeller at this time；Fcmotor_speed1 is the control of preceding sideways-acting propeller calculated at this time
Speed processed, bcmotor_speed1 are the control speed of rear sideways-acting propeller calculated at this time.
When submariner body high speed operation from target to when only having 40 meters, submariner body speed is unconditionally reduced to 3 sections, from from target 40
Rice is to 5 meters, and submariner body speed linearity is reduced to 0, and submariner body always points to target during navigation, is adopted in moderating process
It is controlled with speed control algorithm three and Heading control algorithm four；
Submariner body surrounding target hover approaching to observe and be controlled using seven or three kinds of algorithm five, algorithm six, algorithm algorithms
System, control flow are：When submariner body, which is moved to, there was only 5 meters from target；Distance controlling algorithm six starts to start, and controlled level pushes away
Submariner body is set to be carried out at 5 meters from target into device motor-driven；Deep-controlled algorithm five calculates the control speed of vertical thrusters, from
And it controls submariner body and carries out depth holding at target depth；Hovering alignment algorithm seven calculates the control of two sideways-acting propellers
Speed makes submariner body clockwise rotation, and head always points to target, ensures that submariner body head always points to target, hangs
The time stopped is set as needed.
Advantageous effect：
1, the target low speed combined the invention discloses a kind of multi-thruster approaches and hovers submariner body, and submariner body low speed supports
The torque control generated by horizontal propeller, sideways-acting propeller, vertical thrusters, horizontal steering engine when nearly submarine target and hovering control position
System.To reach better lowsteaming and Hovering control effect, two sideways-acting propellers are separately mounted to the bow section of submariner body
With stern section, to generate larger rotating torque；Vertical thrusters are mounted in the middle part of submariner body, vertical propulsion can be improved in this way
Function and effect when device depthkeeping；Horizontal propeller is mounted on the positive tail portion of submariner body, can effectively control the back-and-forth motion of submariner body.It is latent
Boat body court in such a way that horizontal propeller, sideways-acting propeller, vertical thrusters, horizontal steering engine combine when low speed is close to target
Gtoal setting.The back-and-forth motion speed of submariner body is controlled using horizontal propeller；The boat of two sideways-acting propeller control submariner bodies
To or carry out directive property rotary motion (the targeted omnibearing observation in head)；Vertical thrusters and horizontal steering engine are controlled jointly
The depth of submariner body processed, wherein steering engine are also responsible for the pitch attitude of adjustment submariner body, the horizontal steering engine when submariner body speed is relatively low
Function and effect it is weaker or negligible.
2, totally seven kinds of algorithms are provided in the present invention, it is horizontal using algorithm one, algorithm two when submariner body high speed course
Propeller gives fixed rotating speed, and speed control algorithm three and Heading control algorithm four, submariner body is used to surround mesh in moderating process
Mark carries out hovering and approaches observation using seven or three kinds of algorithm five, algorithm six, algorithm algorithms.It ensure that submariner body low speed approaches or hovers
When, head always points to target, and the time of hovering can be set as needed.
Description of the drawings
The submarine target low speed that a kind of multi-thrusters of Fig. 1 combine approaches and hovering system structure diagram；
1, submariner body shell body 2, inertial navigation set 3, automatic pilot 4, battery unit 5, vertical steering wheel 6, horizontal steering engine
7, power control unit 8, depth gauge 9, Doppler log 10, horizontal main thruster 11, vertical thrusters 12, sideways-acting propeller
13, radio station.
Fig. 2 systems trajectory diagram of the low speed close to target and when approaching observation in water.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention respectively adds a sideways-acting propeller in submariner body bow section and the lateral of stern section, is installed at the middle part of submariner body
A set of vertical pusher.Using this with postponing, long-range AUV can low speed approach and carry out alignment observation at target or hanged
Stop control and carrys out processing target.The present invention breaches traditional AUV movement control technologies, has reached domestically leading level.
The submarine target low speed that a kind of multi-thruster combines approach with hovering submariner body, including：It is horizontal propeller 10, vertical
Propeller 11 and two sideways-acting propellers 12；
Horizontal propeller 10 is fixedly connected on the positive tail portion of submariner body, and axis is overlapped with the axis of submariner body.
A vertical channels are opened up at the hull position of submariner body, vertical thrusters 11 are fixedly connected on vertical channels
On inner wall.
The horizontal channel that a level runs through submariner body is opened up respectively in submariner body boat body bow section and stern section, and two laterally push away
It is respectively fixedly connected on the inner wall of horizontal channel into device 12, the propeller of two sideways-acting propellers 12 is towards on the contrary.
Further, submariner body includes：Shell 1, inertial navigation set INS2, automatic pilot 3, power control unit 4,
Vertical steering wheel 5, horizontal steering engine 6, power control unit 7, depth gauge 8, Doppler log DVL9 and radio station 13；
Shell 1 is streamlined shell.
INS2 receives DVL information and is calculated with the combination of INS internal sensor information, and submariner body is exported to automatic pilot
Azimuth information and posture information.
Automatic pilot 3 receives the azimuth information that INS is transmitted and the depth information that posture information and depth gauge transmit,
After setting control algolithm operation in submariner body, output is directed to horizontal propeller, horizontal steering engine, vertical steering wheel, sideways-acting propeller, hangs down
To the control instruction of propeller so that steering engine and propeller are performed both by corresponding action, realize autonomous navigation.
Power control unit provides electric energy supply for entire submariner device.
Vertical steering wheel 5 is mounted on submariner body stern section rear portion flow section, and two pieces of vertical rudder faces of vertical steering wheel are in about 1 shell
Both sides are symmetrically installed, and inside housings, the controller of vertical steering wheel 5 can connect for driving motor and the controller installation of vertical steering wheel 5
Control instruction is received, the driving motor rotation of control vertical steering wheel 5 drives vertical rudder face to run to specified angle.
Horizontal steering engine 6 is mounted on submariner body endpiece rear portion flow section, and two pieces of horizontal rudder faces of horizontal steering engine 6 are in shell or so
Both sides are symmetrically installed, and driving motor and the controller installation of horizontal steering engine 6 are inside housings；The controller of horizontal steering engine 6 receives
Control instruction, the driving motor rotation of controlled level steering engine 6, the horizontal rudder face of driving run to specified angle.
Depth gauge is used for measuring the current depth information of submariner body.
DVL is used for measuring submariner body to water-bed speed and from water-bed height, and measurement data is issued INS；
Radio station is mounted on inside submariner body, for receiving external manipulation tasks information.
Submariner body receives the mission bit stream that deck manipulates unit by radio station；The data that DVL is measured are sent out by cable
Give INS；INS combinations DVL information calculates the data such as navigation position and posture, and automatic pilot is sent to by cable；From
Dynamic pilot according to mission bit stream controlled level propeller, horizontal steering engine, vertical steering wheel high speed operation to target point around, then
Automatic pilot, which starts low speed algorithm control sideways-acting propeller, vertical thrusters, horizontal propeller and horizontal steering engine, low speed, to be supported
Close-target hovers around target, to execute corresponding observation or processing task.
Submariner body low speed approach submarine target and hovering control position when by horizontal propeller, sideways-acting propeller, vertical thrusters,
The Torque Control that horizontal steering engine generates.To reach better lowsteaming and Hovering control effect, by two sideways-acting propellers point
Not An Zhuan submariner body bow section and stern section, to generate larger rotating torque；Vertical thrusters are mounted in the middle part of submariner body,
Function and effect when vertical thrusters depthkeeping can be improved in this way；Horizontal propeller is mounted on the positive tail portion of submariner body, can be effective
Submariner body is controlled to be moved forward and backward.Submariner body is when low speed is close to target using horizontal propeller, sideways-acting propeller, vertical propulsion
The mode that device, horizontal steering engine combine is towards gtoal setting.The back-and-forth motion speed of submariner body is controlled using horizontal propeller；Two sides
Rotary motion (the targeted omnibearing observation in head) to the course of propeller control submariner body or progress directive property；It is vertical
The depth of propeller and horizontal steering engine co- controlling submariner body, wherein steering engine are also responsible for the pitch attitude of adjustment submariner body, when latent
The function and effect of body speed of navigating horizontal steering engine when relatively low are weaker or negligible.
In the present embodiment, control algolithm includes following 7 algorithms：
Deep-controlled algorithm when algorithm one, submariner body high speed operation：
H_rud_set_angle=d1×(depth-depth0)-d2×pitching_angle×E；
Depth is submariner body current depth, is obtained by depth gauge；Depth0 is that the preset target of submariner body is deep
Degree；d1It is preset deep-controlled coefficient in horizontal steering engine；d2It is preset pitch angle control coefrficient in horizontal steering engine；E is angle
Conversion coefficient；Pitching_angle is the pitch angle of the submariner body obtained by inertial navigation；H_rud_set_angle is calculated
The control angle of horizontal steering engine.
Heading control algorithm is as follows when algorithm two, submariner body high speed operation：
Vct_rud_set_angle=course_para3 × [H × (course-course0)-G × course_
speed]
Course is the current course of submariner body, is obtained by INS；Course0 is the bogey heading of preset submariner body；
Course_para3 is preset Heading control coefficient in horizontal steering engine；H has to be preset in horizontal steering engine with course
The Heading control parameter of pass；G is preset Heading control parameter related with course angular speed in horizontal steering engine；course_
Speed is course angular speed, is obtained by INS；Vct_rud_set_angle is the control angle of calculated horizontal steering engine.
Algorithm three, submariner body lowsteaming speed control algorithm be：
Mmotor_speed=speed_para × [A1×(speed-speed0)-B1×(speed1-speed0)-C1×
(speed2-speed0)]。
Speed is submariner body present speed, is obtained by DVL；Speed0 is the preset speed of submariner body；Speed1 is
The speed of submariner body last moment；Speed2 is the speed at upper moment on submariner body；Speed_para is preset speed control
Proportionality coefficient；Mmotor_speed is the control speed of calculated horizontal propeller, A1、B1And C1Respectively preset water
The control parameter of flat propeller.
Heading control algorithm is as follows when algorithm four, submariner body lowsteaming：
Fcmotor_speed=course_para × [A2×(course-course0)-B2×(course1-
course0)-C2×(course2-course0)]/[1+fabs(mmotor_speed)/D1]。
Bcmotor_speed=-course_para × [A3×(course-course0)-B3×(course1-
course0)-C3×(course2-course0)]/[1+fabs(mmotor_speed)/D2]。
Course0 is preset submariner body bogey heading；Course is the current course of submariner body；Course1 is submariner body
The course of last moment；Course2 is the course at upper moment on submariner body；Course_para is the ratio of preset Heading control
Example coefficient；Mmotor_speed is the control speed of horizontal propeller；A2、B2And C2Respectively preset preceding sideways-acting propeller
Control parameter；D1For preset preceding sideways-acting propeller acting factor；Fcmotor_speed is calculated preceding sideways-acting propeller
Control speed；A3、B3And C3The control parameter of respectively preset rear sideways-acting propeller；D2It is that preset rear sideways-acting propeller is made
Use the factor；Bcmotor_speed is the control speed of calculated rear sideways-acting propeller；Fabs is the function that takes absolute value.
Deep-controlled algorithm is as follows when algorithm five, submariner body lowsteaming：
Vmotor_speed=depth_para × [A4×(depth-depth0)-B4×(depth1-depth0)–C4×
(depth2-depth0)]/[1+fabs(speed)/F]；
H_rud_set_angle=depth_para1 × (depth-depth0)-depth_para2 × pitching_
angle×π/180。
Depth0 is preset submariner body target depth；Depth is submariner body current depth；Depth1 is one on submariner body
The depth at moment；Depth2 is the depth at upper moment on submariner body；Depth_para is the deep-controlled ratio of preset submariner body
Example coefficient；Speed is submariner body present speed；Fabs is the function that takes absolute value, and F is preset speed impact factor；A4、B4With
C4The control parameter of respectively preset vertical pusher；Depth_para1 is the deep-controlled coefficient of preset steering engine；depth_
Para2 is preset steering engine pitch angle control coefrficient；Pitching_angle is the pitch angle of the submariner body obtained by inertial navigation；
Vmotor_speed is the control speed of calculated vertical thrusters, and h_rud_set_angle2 is calculated level at this time
The control angle of steering engine.
The algorithm of distance controlling when algorithm six, the hovering alignment of submariner body is as follows：
Mmotor_speed2=dis_para × [A5×(distance-distance0)-B5×(distance1-
distance0)-C5×(distance2-distance0)]/[1+fabs(speed/F1)]；
Distance0 is setting observation safe distance of the submariner body from target point；Distance is submariner body from target point
Distance；Distance1 is submariner body last moment with a distance from target point；Distance2 be on submariner body the upper moment from mesh
The distance of punctuate；Dis_para is the proportionality coefficient of preset distance controlling；Mmotor_speed2 is calculated level at this time
The control speed of propeller；F1For preset speed impact factor, A5、B5、C5For preset submariner body distance controlling parameter.
The control algolithm that algorithm seven, submariner body surrounding target carry out hovering rotation is as follows：
Fcmotor_speed1=course_para1 × [A2×(course-course0)-B2×(course1-
course0)-C2×(course2-course0)]/(1+fabs(mmotor_speed3)/D1)；
Bcmotor_speed1=-1200+course_para2 × [A3×(course-course0)-B3×
(course1-course0)-C3×(course2-course0)])/[1+fabs(mmotor_speed3)/D2]。
Course is the current course of submariner body；Course1 is the course of submariner body last moment；Course2 is submariner body
The course at upper upper moment；Course0 is preset submariner body bogey heading；Course_para1 be in preset Heading control before
The proportionality coefficient of side propeller；Course_para2 is the proportionality coefficient of rear side propeller in preset Heading control；mmotor_
Speed3 is the control speed of horizontal propeller at this time；Fcmotor_speed1 is the control of preceding sideways-acting propeller calculated at this time
Speed processed, bcmotor_speed1 are the control speed of rear sideways-acting propeller calculated at this time.
When submariner body high speed operation from target to when only having 40 meters, submariner body speed is unconditionally reduced to 3 sections, from from target 40
Rice is to 5 meters, and submariner body speed linearity is reduced to 0, and submariner body always points to target during navigation, is adopted in moderating process
With speed control algorithm three and Heading control algorithm four, during deceleration, deep-controlled algorithm five is according to the size of speed
Dynamic adjusts the control ratio of horizontal steering engine and vertical thrusters, and speed is lower, and the control ratio of vertical thrusters is bigger.
Submariner body surrounding target carries out hovering and approaches observation using seven or three kinds of algorithm five, algorithm six, algorithm algorithms.Control stream
Cheng Wei：When submariner body, which is moved to, there was only 5 meters from target；Distance controlling algorithm six starts to start, and controlled level propeller makes to dive
Boat body carries out motor-driven at 5 meters from target；The rotating speed that deep-controlled algorithm five calculates vertical thrusters controls submariner body in mesh
It marks depth and carries out depth holding；Hovering alignment algorithm seven calculates the rotating speed of two sideways-acting propellers, keeps submariner body clockwise
Rotary motion, and head always points to target, ensures that submariner body head always points to target, the time of hovering sets as needed
It is fixed.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in the protection of the present invention
Within the scope of.
Claims (2)
1. the submarine target low speed that a kind of multi-thruster combines approaches and hovering submariner body, which is characterized in that further include：Level pushes away
Into device (10), vertical thrusters (11) and two sideways-acting propellers (12)；
The horizontal propeller (10) is fixedly connected on the positive tail portion of submariner body, and axis is overlapped with the axis of submariner body；
A vertical channels are opened up at the hull position of submariner body, the vertical thrusters (11) are fixedly connected on vertical channels
Inner wall on；
The horizontal channel that a level runs through submariner body, a sideways-acting propeller are opened up respectively in submariner body boat body bow section and stern section
It is preceding sideways-acting propeller to be fixedly connected on the inner wall of bow section horizontal channel, another sideways-acting propeller is fixedly connected on stern Duan Shui
It is rear sideways-acting propeller on the inner wall risen as high as the banks, the propeller of two sideways-acting propellers (12) is towards on the contrary；
Control algolithm includes following 7 algorithms：
Deep-controlled algorithm when algorithm one, submariner body high speed operation：
H_rud_set_angle=d1×(depth-depth0)-d2×pitching_angle×E；
Depth is submariner body current depth, is obtained by depth gauge；Depth0 is the preset target depth of submariner body；d1It is
Preset deep-controlled coefficient in horizontal steering engine；d2It is preset pitch angle control coefrficient in horizontal steering engine；E is angular transition system
Number；Pitching_angle is the pitch angle of the submariner body obtained by inertial navigation；H_rud_set_angle is calculated hydroplane
The control angle of machine；
Heading control algorithm is as follows when algorithm two, submariner body high speed operation：
Vct_rud_set_angle=course_para3 × [H × (course-course0)-G × course_speed]
Course is the current course of submariner body, is obtained by inertial navigation set INS；Course0 is the bogey heading of preset submariner body；
Course_para3 is preset Heading control coefficient in horizontal steering engine；H has to be preset in horizontal steering engine with course
The Heading control parameter of pass；G is preset Heading control parameter related with course angular speed in horizontal steering engine；course_
Speed is course angular speed, is obtained by inertial navigation set INS；Vct_rud_set_angle is calculated vertical steering wheel
Control angle；
Algorithm three, submariner body lowsteaming speed control algorithm be：
Mmotor_speed=speed_para × [A1×(speed-speed0)-B1×(speed1-speed0)-C1×
(speed2-speed0)]
Speed is submariner body present speed, is obtained by Doppler log DVL；Speed0 is the preset speed of submariner body；
Speed1 is the speed of submariner body last moment；Speed2 is the speed at upper moment on submariner body；Speed_para is preset
The proportionality coefficient of speed control；Mmotor_speed is the control speed of calculated horizontal propeller, A1、B1And C1Respectively
The control parameter of preset horizontal propeller；
Heading control algorithm is as follows when algorithm four, submariner body lowsteaming：
Fcmotor_speed=course_para × [A2×(course-course0)-B2×(course1-course0)-C2
×(course2-course0)]/[1+fabs(mmotor_speed)/D1]；
Bcmotor_speed=-course_para × [A3×(course-course0)-B3×(course1-course0)-
C3×(course2-course0)]/[1+fabs(mmotor_speed)/D2]；
Course0 is preset submariner body bogey heading；Course is the current course of submariner body；Course1 is one on submariner body
The course at moment；Course2 is the course at upper moment on submariner body；Course_para is the ratio system of preset Heading control
Number；Mmotor_speed is the control speed of horizontal propeller；A2、B2And C2The control of respectively preset preceding sideways-acting propeller
Parameter；D1For preset preceding sideways-acting propeller acting factor；Fcmotor_speed is the control of calculated preceding sideways-acting propeller
Speed；A3、B3And C3The control parameter of respectively preset rear sideways-acting propeller；D2Be it is preset after sideways-acting propeller effect because
Son；Bcmotor_speed is the control speed of calculated rear sideways-acting propeller；Fabs is the function that takes absolute value；
Deep-controlled algorithm is as follows when algorithm five, submariner body lowsteaming：
Vmotor_speed=depth_para × [A4×(depth-depth0)-B4×(depth1-depth0)–C4×
(depth2-depth0)]/[1+fabs(speed)/F]；
H_rud_set_angle2=depth_para1 × (depth-depth0)-depth_para2 × pitching_angle
×π/180；
Depth0 is preset submariner body target depth；Depth is submariner body current depth；Depth1 is submariner body last moment
Depth；Depth2 is the depth at upper moment on submariner body；Depth_para is the deep-controlled ratio system of preset submariner body
Number；Speed is submariner body present speed；Fabs is the function that takes absolute value, and F is preset speed impact factor；A4、B4And C4Point
Not Wei preset vertical pusher control parameter；Depth_para1 is the deep-controlled coefficient of preset steering engine；depth_
Para2 is preset steering engine pitch angle control coefrficient；Pitching_angle is the pitch angle of the submariner body obtained by inertial navigation；
Vmotor_speed is the control speed of calculated vertical thrusters, and h_rud_set_angle2 is calculated level at this time
The control angle of steering engine；
The algorithm of distance controlling when algorithm six, the hovering alignment of submariner body is as follows：
Mmotor_speed2=dis_para × [A5×(distance-distance0)-B5×(distance1-
distance0)-C5×(distance2-distance0)]/[1+fabs(speed/F1)]；
Distance0 is setting observation safe distance of the submariner body from target point；Distance be submariner body from target point away from
From；Distance1 is submariner body last moment with a distance from target point；Distance2 be on submariner body the upper moment from target point
Distance；Dis_para is the proportionality coefficient of preset distance controlling；Mmotor_speed2 is horizontal propulsion calculated at this time
The control speed of device；F1For preset speed impact factor, A5、B5、C5For preset submariner body distance controlling parameter；
The control algolithm that algorithm seven, submariner body surrounding target carry out hovering rotation is as follows：
Fcmotor_speed1=course_para1 × [A2×(course-course0)-B2×(course1-course0)-
C2×(course2-course0)]/(1+fabs(mmotor_speed3)/D1)；
Bcmotor_speed1=-1200+course_para2 × [A3×(course-course0)-B3×(course1-
course0)-C3×(course2-course0)])/[1+fabs(mmotor_speed3)/D2]；
Course is the current course of submariner body；Course1 is the course of submariner body last moment；Course2 be on submariner body on
The course at moment；Course0 is preset submariner body bogey heading；Course_para1 is that front side pushes away in preset Heading control
Into the proportionality coefficient of device；Course_para2 is the proportionality coefficient of rear side propeller in preset Heading control；mmotor_
Speed3 is the control speed of horizontal propeller at this time；Fcmotor_speed1 is the control of preceding sideways-acting propeller calculated at this time
Speed processed, bcmotor_speed1 are the control speed of rear sideways-acting propeller calculated at this time；
When submariner body high speed operation from target to when only having 40 meters, submariner body speed is unconditionally reduced to 3 sections, from 40 meters from target to
5 meters, submariner body speed linearity is reduced to 0, and submariner body always points to target during navigation, using calculation in moderating process
Method three and algorithm four are controlled；
Submariner body surrounding target hover approaching to observe and be controlled using seven or three kinds of algorithm five, algorithm six, algorithm algorithms, is controlled
Flow processed is：When submariner body, which is moved to, there was only 5 meters from target；Algorithm six starts to start, and controlled level propeller makes submariner body
It is carried out at 5 meters from target motor-driven；Algorithm five calculates the control speed of vertical thrusters, to control submariner body in target depth
Depth holding is carried out at degree；Algorithm seven calculates the control speed of two sideways-acting propellers, makes submariner body clockwise rotation,
And head always points to target, ensures that submariner body head always points to target, the time of hovering is set as needed.
2. the submarine target low speed that a kind of multi-thruster as described in claim 1 combines approaches and hovering submariner body, feature
It is, the submariner body includes：Shell (1), inertial navigation set INS (2), automatic pilot (3), the first power control unit
(4), vertical steering wheel (5), horizontal steering engine (6), second source control unit (7), depth gauge (8), Doppler log DVL (9)
With radio station (13)；
The shell (1) is streamlined shell；
The inertial navigation set INS (2) receives the measurement data from Doppler log DVL, and by itself and inertial navigation
The information combination of equipment I NS internal sensors detection calculates, and obtains the azimuth information and posture information and to driving automatically of submariner body
Sail instrument output；
The automatic pilot (3) receives the azimuth information that inertial navigation set INS is transmitted and posture information and depth gauge
(8) depth information transmitted, after setting control algolithm operation in submariner body, output is for horizontal propeller (10), horizontal steering engine
(6), vertical steering wheel (5), the control instruction of sideways-acting propeller (12), vertical thrusters (11), controlled level propeller (10), water
Around flat steering engine (6), vertical steering wheel (5) high speed operation to target point, then low speed approaches target：Control sideways-acting propeller
(12), vertical thrusters (11), horizontal propeller (10) and horizontal steering engine (6), hover around target；
When low speed approaches target：Controlled level propeller (10) is to control the back-and-forth motion speed of submariner body；Control laterally pushes away
To control the course of submariner body or the rotary motion of directive property is carried out into device (12) and vertical thrusters (11)；Control vertical propulsion
The depth of device (11) and horizontal steering engine (6) co- controlling submariner body；
First power control unit (4) provides electric energy supply for entire submariner device；
The vertical steering wheel (5) is mounted on submariner body stern section rear portion flow section, and two pieces of vertical rudder faces of vertical steering wheel are in shell (1)
Upper and lower both sides are symmetrically installed, and the driving motor and controller of vertical steering wheel (5) are installed inside housings, the control of vertical steering wheel (5)
Device processed receives control instruction, and the driving motor rotation of control vertical steering wheel (5) drives vertical rudder face to run to specified angle；
The horizontal steering engine (6) is mounted on submariner body stern section rear portion flow section, and two pieces of horizontal rudder faces of horizontal steering engine (6) are in shell
The right and left is symmetrically installed, and driving motor and the controller installation of horizontal steering engine (6) are inside housings；The control of horizontal steering engine (6)
Device processed receives control instruction, the driving motor rotation of controlled level steering engine (6), and the horizontal rudder face of driving runs to specified angle；
The depth gauge (8) is used for measuring the current depth information of submariner body；
The Doppler log DVL (9) is used for measuring the speed of submariner body advance and from water-bed height, and by measurement data
Issue inertial navigation set INS；
Radio station is mounted on inside submariner body, for receiving external manipulation tasks information.
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| CN106843241A (en) * | 2017-02-17 | 2017-06-13 | 哈尔滨工程大学 | UUV based on auxiliary propeller pinpoints revolution detection method and control system under water |
| CN107102297B (en) * | 2017-03-15 | 2021-04-09 | 上海大学 | Wireless ocean sound field monitoring and positioning device |
| CN109213180B (en) * | 2018-07-13 | 2021-07-13 | 哈尔滨工程大学 | Safe load rejection and depth control method in process of submerging vertical flat AUV (autonomous underwater vehicle) |
| CN109374350B (en) * | 2018-11-15 | 2021-05-11 | 江苏科技大学 | Small-sized multipoint self-balancing type deep sea water collection system and application thereof |
| CN109533243A (en) * | 2018-12-06 | 2019-03-29 | 上海交通大学 | Deep-sea unmanned remote-controlled vehicle |
| CN111874195A (en) * | 2020-08-11 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Full-sea-depth offshore bottom autonomous underwater robot structure |
| CN112572738B (en) * | 2020-12-21 | 2022-10-28 | 中国船舶重工集团有限公司第七一0研究所 | Small underwater unmanned optical fiber spool remote control unexplosive dangerous object processing system and method |
| CN113148076B (en) * | 2021-04-25 | 2022-09-02 | 哈尔滨工程大学 | Underwater bionic spherical/hemispherical robot and motion control method thereof |
| CN113296524B (en) * | 2021-04-25 | 2022-11-29 | 哈尔滨工程大学 | Thrust vector distribution optimization method for underwater bionic spherical/hemispherical robot |
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| US3774099A (en) * | 1970-08-18 | 1973-11-20 | Dornier Ag | Vtol attitude control device for aircraft |
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| US3774099A (en) * | 1970-08-18 | 1973-11-20 | Dornier Ag | Vtol attitude control device for aircraft |
| JPH06168028A (en) * | 1992-11-30 | 1994-06-14 | Fuji Heavy Ind Ltd | Alititude controller of flying body |
| EP0838393A1 (en) * | 1996-05-07 | 1998-04-29 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Submerged body and method of controlling submersion position of the same |
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