CN107776859B - AUV deep movement buoyancy compensation control method latent greatly - Google Patents
AUV deep movement buoyancy compensation control method latent greatly Download PDFInfo
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- CN107776859B CN107776859B CN201710896082.6A CN201710896082A CN107776859B CN 107776859 B CN107776859 B CN 107776859B CN 201710896082 A CN201710896082 A CN 201710896082A CN 107776859 B CN107776859 B CN 107776859B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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Abstract
The present invention is to provide a kind of AUV deep movement buoyancy compensation control methods latent greatly.Detect depth of the AUV when blue water carries out depth-keeping navigation；By AUV surplus buoyancy identification algorithm, the surplus buoyancy that AUV is subject to when current blue water carries out depth-keeping navigation is recognized；The result of identification is to carry out buoyancy compensation to AUV by the equal balance system of oil-pocket buoyancy when stablizing；Otherwise continue to recognize the surplus buoyancy that AUV is subject in blue water depth-keeping navigation；When the buoyancy compensation value of AUV is equal to the surplus buoyancy value recognized by AUV surplus buoyancy identification algorithm, then the buoyancy compensation to AUV is completed；Otherwise, continue logical to AUV progress buoyancy compensation.The present invention can effective balanced surplus buoyancy influence and eliminate the trim angular displacement of AUV, improve the maneuverability and control precision of AUV, reduce resistance suffered when AUV depth-keeping navigation, increase the hours underway of AUV in the case where carrying same energy conditions.
Description
Technical field
The present invention relates to a kind of control method of autonomous underwater vehicle, specifically a kind of AUV carries out latent greatly
Buoyancy compensation control method when movement.
Background technique
Autonomous Underwater Vehicle (Autonomous Underwater Vehicle abbreviation AUV) is that one kind combines manually
The task controller of intelligence and other advanced computing techniques, is integrated with bathyscaph, sensor, environmental effect, computer software, energy
Amount storage, conversion and propulsion, new material and the high-tech such as new process and underwater intelligent, application prospect are very extensive.Ocean
The 89% of the total oceanic area of mesopelagic (200 meter Dao1000 meter Shui Shen) region Zhan, in order to pair ocean further appreciate that, carry out ocean development, need at this time by
The high-accuracy water acoustic equipment that AUV is carried explores blue water.However, when AUV carries out big depth dive to blue water
When, due to the variation of depth, density, pressure, salinity, the temperature of seawater can all change, these factors can all make AUV by
Buoyancy generate a unknown variation, it is uneven to ultimately cause gravity and buoyancy.
Due to being influenced by surplus buoyancy, AUV can generate certain Angle of Trim when blue water carries out dive, also can
The keel depth and instruction depth for causing AUV have certain error, these influence the water for there is strict demand to control precision
Acoustic equipment is very unfavorable.The influence of surplus buoyancy simultaneously also will increase the resistance of AUV depth-keeping navigation, increase energy consumption, reduce AUV navigation
Time.
Summary of the invention
The purpose of the present invention is to provide a kind of AUV that can be improved in the precision and maneuverability of blue water depth-keeping navigation,
Improve the AUV deep movement buoyancy compensation control method latent greatly of the measurement accuracy of the high-accuracy water acoustic equipment carried.
The object of the present invention is achieved like this:
Depth of the AUV when blue water carries out depth-keeping navigation is detected by the depth transducer that AUV is carried；
When AUV is when the keel depth of blue water is stablized, by AUV surplus buoyancy identification algorithm, AUV is current for identification
Blue water carries out the surplus buoyancy being subject to when depth-keeping navigation；
When the result recognized by AUV surplus buoyancy identification algorithm is to stablize, then pass through the equal balance system of oil-pocket buoyancy
Buoyancy compensation is carried out to AUV；Otherwise, by AUV surplus buoyancy identification algorithm continue to AUV in blue water depth-keeping navigation by
To surplus buoyancy recognized；
When the buoyancy compensation value of AUV is equal to the surplus buoyancy value recognized by AUV surplus buoyancy identification algorithm, then complete
To the buoyancy compensation of AUV；Otherwise, it continues through AUV oil-pocket buoyancy equal balance system and buoyancy compensation is carried out to AUV.
The present invention may also include:
1, the AUV surplus buoyancy identification algorithm uses Unscented kalman filtering algorithm, with the vertical velocity w of AUV, trim
The state variable of angle θ, pitch velocity q and buoyancy Θ=B to be identified as AUV surplus buoyancy identification model, with the stern of AUV
Hydroplane rudder angle δsInput as AUV surplus buoyancy identification model.
2, the one-way fashion buoyancy for the fore body and stern that the equal balance system of the oil-pocket buoyancy is located at AUV by two is balanced
Device composition, two one-way fashion buoyancy balancers are hydraulic control system, including pressure-resistant oil tank, oil sac and valve, AUV bow
The centre of buoyancy of oil sac is L at a distance from AUV center of gravity in the one-way fashion buoyancy balancer in portion1；The one-way fashion buoyancy of AUV stern is balanced
The centre of buoyancy of oil sac is L at a distance from AUV center of gravity in device2；When picking out AUV in depth by the surplus buoyancy identification algorithm of AUV
When sea region carries out buoyancy Θ=B suffered by depth-keeping navigation, since the gravity W of AUV is it is known that the then surplus buoyancy of AUV at this time
For Δ B=B-W, start the equal balance system of oil-pocket buoyancy, the one-way fashion buoyancy balancer for controlling AUV fore body and stern starts
The AUV that weighs carries out surplus buoyancy suffered when depth-keeping navigation, and bow stern oil sac is generated to respective pressure-resistant oil tank oil return, recirculating oil quantity
Buoyancy variation needs to meet: Δ B1/ΔB2=L2/L1And Δ B1+ΔB2=Δ B, Δ B1For AUV fore body one-way fashion buoyancy equilibrium dress
Set the buoyancy changing value that middle oil sac generates, Δ B2The buoyancy variation generated for oil sac in AUV stern one-way fashion buoyancy balancer
Value.
In order to eliminate AUV in carrying out big latent deep motion process since the variation of density of sea water, temperature, salinity, pressure produces
Raw surplus buoyancy；In order to improve the maneuverability and control precision of AUV, and then improve the measurement accuracy of underwater sound equipment；The present invention
Provide a kind of buoyancy compensation method that AUV carries out ground when big latent deep movement, it is intended to improve AUV in blue water depth-keeping navigation
Precision and maneuverability, and then improve the measurement accuracy of the high-accuracy water acoustic equipment carried.
The present invention can effective balanced surplus buoyancy influence and eliminate the trim angular displacement of AUV, improve the maneuverability of AUV
And control precision, reduce resistance suffered when AUV depth-keeping navigation, increases the hours underway of AUV in the case where carrying same energy conditions.
Beneficial effects of the present invention:
The present invention is for AUV deep movement buoyancy compensation control method latent greatly.The state when present invention is with AUV depth-keeping navigation becomes
Measure ω, q, θ, state variable and aft hydroplane angle δ of the Θ=B as surplus buoyancy identification modelsMould is recognized as surplus buoyancy
The input of type, the residue that then AUV is subject to when blue water makees depth-keeping navigation by Unscented kalman filtering identification algorithm
Buoyancy carries out high-precision identification, passes through the equal balance system of oil-pocket buoyancy again according to the result of identification and carries out buoyancy tune to aircraft
Section, makes AUV Angle of Trim θ=0, aft hydroplane rudder angle δs=0, the buoyancy of AUV and gravity reach equilibrium state at this time.This method can
The maneuverability and control precision of AUV are improved, while improving the measurement accuracy of the high-accuracy water acoustic equipment of AUV carrying.This method
It can reduce resistance when AUV depth-keeping navigation, energy saving increases the underwater hours underway of AUV.The advantage of the invention is that
By the high-precision surplus buoyancy for picking out AUV in blue water depth-keeping navigation of AUV surplus buoyancy identification algorithm, then lead to
It crosses the equal balance system of oil-pocket buoyancy and disposable and high-precision adjusting is carried out to the buoyancy of AUV, finally make the buoyancy and gravity of AUV
Reach equilibrium state.
Detailed description of the invention
Fig. 1 is AUV of the invention deep movement buoyancy compensation control method flow chart latent greatly；
Fig. 2 is the buoyancy balancer distribution schematic diagram for AUV deep movement buoyancy compensation latent greatly of the invention；
Fig. 3 is of the invention for AUV deep movement buoyancy compensation control method block diagram latent greatly；
Fig. 4 is buoyancy balancer systematic schematic diagram of the invention.
Specific embodiment
It illustrates below and the present invention is described in more detail.
In conjunction with Fig. 1, AUV of the invention deep movement buoyancy compensation control method latent greatly is main including the following steps:
Step 1: depth of the AUV when blue water carries out depth-keeping navigation is detected by the depth transducer that AUV is carried
Degree；
Step 2: when AUV blue water keel depth stablize when, pass through AUV surplus buoyancy identification algorithm, identification
The surplus buoyancy that AUV is subject to when current blue water carries out depth-keeping navigation；
Step 3: when the result recognized by AUV surplus buoyancy identification algorithm is to stablize, then it is equal by oil-pocket buoyancy
Balance system carries out buoyancy compensation to AUV；Otherwise, continue the surplus buoyancy being subject to AUV in blue water depth-keeping navigation progress
Identification；
Step 4: when the buoyancy compensation value of AUV is equal to the surplus buoyancy value recognized by AUV surplus buoyancy identification algorithm
When, then complete the buoyancy compensation to AUV；Otherwise, it continues through AUV oil-pocket buoyancy equal balance system and buoyancy benefit is carried out to AUV
It repays.
In conjunction with Fig. 2, oil-pocket buoyancy equal balance system 13 of the present invention for AUV deep movement buoyancy compensation latent greatly is by first
One-way fashion buoyancy balancer 12, second is distributed to 11 two one-way fashion buoyancy balancer compositions of item formula buoyancy balancer
Position are as follows: AUV fore body 16 and stern 15 respectively arrange an one-way fashion buoyancy balancer, oil in AUV fore body buoyancy balancer
The centre of buoyancy of capsule is L at a distance from AUV center of gravity G1, the centre of buoyancy of oil sac is at a distance from AUV center of gravity G in AUV stern buoyancy balancer
For L2。
In conjunction with Fig. 3, the present invention is main for AUV deep movement buoyancy compensation control method latent greatly are as follows: the identification of AUV surplus buoyancy
Algorithm, oil-pocket buoyancy balance control system.
The present invention use double-closed-loop control method, inner ring be trim control, outer ring be it is deep-controlled, in double-closed-loop control side
AUV is set to be able to carry out stable depth-keeping navigation in blue water under method；
When AUV is in blue water depth-keeping navigation, starting AUV surplus buoyancy identification algorithm starts to recognize AUV in abysmal area
Domain is influenced the surplus buoyancy generated by density of sea water, temperature, salinity, pressure etc., the AUV surplus buoyancy identification of the step 2
The specific implementation process is as follows:
It is distinguished based on AUV surplus buoyancy identification model by surplus buoyancy identification algorithm, i.e. Unscented kalman filtering algorithm
The buoyancy value that AUV is subject in blue water depth-keeping navigation is known, since the self gravity of AUV it is known that obtain the residue of AUV in turn
Buoyancy；
The surplus buoyancy of AUV recognizes model are as follows:
Wherein, X=[w, q, θ, Θ]TFor state variable, u is input vector, Y ∈ RmTo measure vector, Θ=B is unknown
Parameter vector, f are the kinetic simulation type function of AUV, and h is the measurement model function of AUV, and k is discrete time, γ (t) ≈ N (0,
It Q) is process noise, ζ (k) ≈ N (0, R) is the measurement noise in kth sampling instant；Measure noise ζ (k) and process noise γ
(t) be mutually indepedent zero-mean white noise.
Unscented transform UT is that the premise of Unscented kalman filtering algorithm prepares, Unscented transform specific steps are as follows:
(1) Sigma point and mean value are constructed
Construct 2n+1 Sigma point X(i)With corresponding weightIt is as follows:
In above formula,In subscript i representing matrix i-th column, be the column vector with X homotype.
Wherein,In subscript i representing matrix i-th column, be the column vector with X homotype,For matrix
Square root, P is covariance matrix, λ=α2(n+ κ)-n is a scaling factor, and α is a scale parameter, is determined
Distribution of the Sigma point around X can be such that the influence of higher order term is preferably minimized, be typically chosen by adjusting it are as follows:
0.001≤α < 1；κ is adjustable parameter, and adjusting it can be improved approximation accuracy, and β is also adjustable parameter β >=0, it can the side of merging
The moment of higher order term in difference, and then the influence of higher order term is included,WithRespectively for calculating sample average
With the weighting of sample covariance.
(2) nonlinear propagation of Sigma point
The Sigma point of upper surface construction is directly made into nonlinear transformation according to the relationship of formula (4-11), is generated equal number of
Convert sample point Y(i), it may be assumed that
Y(i)=h (X(i)) i=1 ..., 2n
(3) mean value and variance of Y are calculated
Calculate transformation sample point Y(i)The mean value and sample variance of (i=0,1,2 ..., 2n), represent variable with their approximations
The mean value and variance of Y, it may be assumed that
Based on the Unscented transform in Unscented kalman filtering algorithm, Unscented kalman filtering algorithm specific steps are as follows:
Initialization:
Time updates:
1. constructing 2n+1 Sigma point as k > 1, it may be assumed that
λ=α2(n+κ)-n
2. calculating prediction Sigma point, it may be assumed that
3. calculating the mean value and variance of prediction Sigma point, it may be assumed that
Measurement updaue:
When new measured valueAfter acquisition, following formula is recycled to be updated state mean value and variance.
Wherein, Pyy、PxyAnd PkIt is covariance matrix, KkFor correction factor,State is corrected for metrical information, that is, is recognized
As a result update state value.
The parameter setting of UT process in the present invention in Unscented kalman filtering identification algorithm are as follows:
Wherein, n is the state variable number in surplus buoyancy identification model, and α, κ, β are adjustable parameter.
Footmark k represents sampling instant, the i-th column of footmark i matrix in all characters of above-mentioned formula.
The step 3 is the surplus buoyancy identification result based on AUV, by adjusting oil-pocket buoyancy equilibrium system balance
The buoyancy of AUV the specific implementation process is as follows:
When the surplus buoyancy value recognized by AUV surplus buoyancy identification algorithm is stablized, starting AUV oil-pocket buoyancy is balanced
System starts the surplus buoyancy of equilibrium AUV；
When the buoyancy generated by the equal balance system of buoyancy is equal to the surplus buoyancy value of AUV surplus buoyancy identification algorithm identification
When, AUV buoyancy compensation is completed at this time, i.e., the buoyancy of AUV and gravity reach balanced state.
In conjunction with Fig. 4, buoyancy balancer system includes that fuel tank 1, check valve 2, hydraulic pump 3, unloaded pneumatic operated valve 4, height push back
Oil valve 5, throttle valve 6, two-way shut-off valve 7 and oil sac 8 carry out one-way fashion buoyancy when the control of the equal balance system of AUV oil-pocket buoyancy
Hydraulic oil in balancer flows to decision are as follows:
It when AUV carries out big latent deep movement, is influenced by variations such as density of sea water, temperature, salinity, pressure, AUV's is floating
Power will increase, and lead to the surplus buoyancy Δ B=B-W > 0 of AUV.
When the surplus buoyancy value recognized at this time by surplus buoyancy identification algorithm reaches stable, start AUV oil-pocket buoyancy
Equal balance system starts the surplus buoyancy of equilibrium AUV, i.e., respectively will by the one-way fashion buoyancy balancer of AUV fore body and stern
Hydraulic oil in AUV bow stern oil sac is adjusted into respective pressure-resistant oil tank, and the proportionate relationship for adjusting the buoyancy that hydraulic oil generates needs
Meet: Δ B1/ΔB2=L2/L1And Δ B1+ΔB2=Δ B；The detailed process that hydraulic oil is adjusted are as follows: AUV fore body and stern
Hydraulic oil in one-way fashion buoyancy balancer oil sac is acted on respectively by blue water seawater pressure by the 8-6-5-2- in Fig. 4
1, it finally flows into respective pressure-resistant oil tank.
When the buoyancy that the equal balance system of oil-pocket buoyancy generates meets: Δ B1/ΔB2=L2/L1And Δ B1+ΔB2When=Δ B,
The system stalls of oil-pocket buoyancy equilibrium at this time, AUV reach equilibrium state, i.e., AUV gravity and buoyancy is equal in magnitude and center of gravity
On same plumb line, its maneuverability and control precision is can be improved in AUV in this case, while improving the accurate water of AUV carrying
The measurement accuracy of acoustic equipment.
Claims (2)
1. a kind of AUV deep movement buoyancy compensation control method latent greatly, it is characterized in that:
Depth of the AUV when blue water carries out depth-keeping navigation is detected by the depth transducer that AUV is carried；
When AUV is when the keel depth of blue water is stablized, by AUV surplus buoyancy identification algorithm, AUV is at current deep-sea for identification
Region carries out the surplus buoyancy being subject to when depth-keeping navigation；The surplus buoyancy of AUV surplus buoyancy identification algorithm recognizes model are as follows:
Wherein, X=[w, q, θ, Θ]TFor state variable, vertical velocity that w is AUV, θ are Angle of Trim, q is pitch velocity, Θ
=B is buoyancy to be identified；U is input vector, Y ∈ RmTo measure vector, h is the measurement model function of AUV, when k is discrete
Between, γ (t) ≈ N (0, Q) is process noise, and ζ (k) ≈ N (0, R) is the measurement noise in kth sampling instant；
When the result recognized by AUV surplus buoyancy identification algorithm is to stablize, then by the equal balance system of oil-pocket buoyancy to AUV
Carry out buoyancy compensation；Otherwise, continue to be subject to AUV in blue water depth-keeping navigation by AUV surplus buoyancy identification algorithm
Surplus buoyancy is recognized；
When the buoyancy compensation value of AUV is equal to the surplus buoyancy value recognized by AUV surplus buoyancy identification algorithm, then complete pair
The buoyancy compensation of AUV；Otherwise, it continues through AUV oil-pocket buoyancy equal balance system and buoyancy compensation is carried out to AUV.
2. AUV according to claim 1 deep movement buoyancy compensation control method latent greatly, it is characterized in that: the oil sac formula is floating
The one-way fashion buoyancy balancer for the fore body and stern that the equal balance system of power is located at AUV by two forms, and two one-way fashions are floating
Power balancer is hydraulic control system, including pressure-resistant oil tank, oil sac and valve, the one-way fashion buoyancy equilibrium dress of AUV fore body
The centre of buoyancy for setting middle oil sac is L at a distance from AUV center of gravity1；In the one-way fashion buoyancy balancer of AUV stern the centre of buoyancy of oil sac with
The distance of AUV center of gravity is L2；Depth-keeping navigation is carried out in blue water when the surplus buoyancy identification algorithm by AUV picks out AUV
When suffered buoyancy Θ=B, since the gravity W of AUV is it is known that then the surplus buoyancy of AUV at this time is Δ B=B-W, start oil sac
When the one-way fashion buoyancy balancer of the equal balance system of formula buoyancy, control AUV fore body and stern starts balanced AUV progress depth-keeping navigation
Suffered surplus buoyancy, bow stern oil sac is to respective pressure-resistant oil tank oil return, and the buoyancy variation that recirculating oil quantity generates needs to meet: Δ
B1/ΔB2=L2/L1And Δ B1+ΔB2=Δ B, Δ B1The buoyancy generated for oil sac in AUV fore body one-way fashion buoyancy balancer
Changing value, Δ B2The buoyancy changing value generated for oil sac in the unidirectional buoyancy balancer of AUV stern.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110057383B (en) * | 2019-05-05 | 2023-01-03 | 哈尔滨工程大学 | Lever arm error calibration method of AUV (autonomous Underwater vehicle) push navigation system |
| CN111506985B (en) * | 2020-03-25 | 2022-07-05 | 中国海洋大学 | Design method of AUV (autonomous underwater vehicle) zero-attack-angle passive buoyancy regulating system |
| CN111348160A (en) * | 2020-03-25 | 2020-06-30 | 中国科学院沈阳自动化研究所 | Buoyancy matching calculation method for large-depth underwater robot |
| CN111547212B (en) * | 2020-06-02 | 2021-12-07 | 哈尔滨工程大学 | Buoyancy control method for unpowered rapid submerged-floating AUV |
| CN113534668B (en) * | 2021-08-13 | 2022-06-10 | 哈尔滨工程大学 | Maximum entropy based AUV (autonomous Underwater vehicle) motion planning method for actor-critic framework |
| CN115447737B (en) * | 2022-10-17 | 2023-05-26 | 中国船舶科学研究中心 | Deep sea submarine for realizing joint motion control |
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