CN109460058A - A kind of tail portion propulsion traversing control method of low speed submarine navigation device underwater mating - Google Patents
A kind of tail portion propulsion traversing control method of low speed submarine navigation device underwater mating Download PDFInfo
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- CN109460058A CN109460058A CN201811401335.9A CN201811401335A CN109460058A CN 109460058 A CN109460058 A CN 109460058A CN 201811401335 A CN201811401335 A CN 201811401335A CN 109460058 A CN109460058 A CN 109460058A
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- 230000013011 mating Effects 0.000 title claims abstract description 9
- 238000003032 molecular docking Methods 0.000 claims abstract description 77
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- 238000012360 testing method Methods 0.000 abstract description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The present invention proposes that a kind of tail portion promotes the traversing control method of low speed submarine navigation device underwater mating, and during UUV navigation, the lateral distance for calculating UUV and docking facilities central axes executes traversing algorithm 1 when lateral distance is larger, otherwise executes traversing algorithm 2.Traversing algorithm 1 specifically: on the basis of current course Ψ, control UUV to docking facilities central axes direction cycle special angle Ψ1, cycle adjusts course according to guidance information later to course Ψ again after a certain period of time for direct route；Traversing algorithm 2 specifically: on the basis of current course Ψ, control UUV to docking facilities central axes direction cycle certain angle Ψ2, execute Ψ2After, cycle immediately to course Ψ adjusts course according to guidance information later and repeats traversing algorithm 2 until close to docking facilities.The present invention makes UUV by traversing control, and air route can gradually tend to docking facilities central axes, and UUV is made to obtain preferable testing conditions, Accuracy Space maneuver autopilot convenient to carry out, to improve docking success rate.
Description
Technical field
It is specially a kind of low suitable for being promoted using single tail portion the present invention relates to submarine navigation device control technology field
The traversing control method that fast submarine navigation device is docked with Underwater Docking Device.
Background technique
With the continuous development of information technology, unmanned low speed submarine navigation device (UUV) is strong as exploration ocean space
One of tool plays increasingly important role in terms of military and scientific research.Following UUV needs longer underwater operation
Time, more hidden information acquisition ability and more powerful communication capacity, and the realization of these targets is mainly taken by itself
The energy of band and the limitation of subsurface communication.Therefore, Underwater Docking Device is supported as supply and Information Exchange System just seems ten
Divide important.
Currently, having emerged in large numbers a variety of docking systems both at home and abroad, full side can be divided into according to the structural requirement of docking cooperation target
Position docking facilities and single direction docking facilities.Structure is complicated for comprehensive docking facilities, and the design letter of single direction docking facilities
It is single, it is easy to accomplish.Single direction docking facilities lie in seabed frequently with conical structure, by hawser anchor, and docking facilities are set
Meter is simple, has specific direction, but docking facilities stock size is smaller.The matching used UUV requirement of single direction docking facilities
Size is smaller, and can directly increase UUV diameter using multiple groups propeller, is unfavorable for docking, therefore UUV can only use single tail portion
It promotes, higher requirement thus is proposed to the control system of UUV, the stability contorting of UUV and docking control are required to good
Control algolithm.
It is applicant's understanding that UUV should control UUV according to presetting when apart from docking facilities farther out in docking control
Orientation or guidance information to docking facilities navigate by water, when closer apart from docking facilities, UUV should be controlled and be gradually diverted to docking
Device direction.It in order to provide better testing conditions to guidance system, while also accurately being docked for end journey and advantageous situation is provided, answered
It is gradually traversing during close to control UUV, so that itself air route is tended to docking facilities central axes, just UUV can be made to have preferably in this way
Detection, control condition, Accuracy Space maneuver autopilot convenient to carry out, to improve docking success rate.
Summary of the invention
In docking control, when the angle of the course UUV and docking facilities direction is larger, it is unfavorable for the detection of guidance system,
Also it is unfavorable for last journey and accurately docks control, for this purpose, the present invention proposes that a kind of tail portion promotes low speed submarine navigation device underwater mating horizontal
Control method is moved, makes UUV by traversing control, air route can gradually tend to docking facilities central axes, obtain UUV preferable
Testing conditions, Accuracy Space maneuver autopilot convenient to carry out, to improve docking success rate.
The principle of the present invention is:
During UUV navigation, according at a distance from docking facilities and the angle of course, UUV and docking facilities central axes are calculated
Lateral distance execute traversing algorithm 1 when lateral distance is larger, control UUV makees a wide range of to docking facilities central axes direction
It is traversing, traversing algorithm 2 is otherwise executed, micro-shifting is executed.Traversing algorithm 1 specifically: on the basis of current course Ψ, control UUV to
Docking facilities central axes direction cycle special angle Ψ1, cycle is to course Ψ again after a certain period of time for direct route, later according to guiding letter
Breath adjustment course；Traversing algorithm 2 specifically: on the basis of current course Ψ, control UUV to the direction cycle of docking facilities central axes
Certain angle Ψ2(Ψ2Should be no more than the half of guiding sector angle), execute Ψ2After, cycle immediately to course Ψ, Zhi Houyi
Course is adjusted according to guidance information and repeats traversing algorithm 2 until close to docking facilities.
The technical solution of the present invention is as follows:
A kind of tail portion promotes the traversing control method of low speed submarine navigation device underwater mating, it is characterised in that: including with
Lower step:
Step 1: aircraft carries out during being directed toward the navigation of docking facilities according to sound guidance information under water, according to current
Course ψ and submarine navigation device calculate the lateral distance of submarine navigation device and docking facilities central axes at a distance from docking facilities；
Wherein docking facilities central axes are in the direction that course angle is 0；When the lateral distance of submarine navigation device and docking facilities central axes
Greater than given threshold, then step 2 is carried out, otherwise carries out step 3；
Step 2: control submarine navigation device is deflected to docking facilities central axes, and wherein course angle instructs are as follows:
ψH=| ψ |+ψ1
ψ in formulaHNumerical value, ψ are instructed for course angle1For preset course angle increment；Submarine navigation device is according to ψHDirect route is set
After fixing time, control course angle screws to ψ, after submarine navigation device course angle returns to ψ, adjusts underwater boat according to sound guidance information
Row device is directed toward, and submarine navigation device is made to be directed toward docking facilities navigation；Return step 1；
Step 3: control submarine navigation device is deflected to docking facilities central axes, and wherein course angle instructs are as follows:
ψ in formulaHNumerical value, ψ are instructed for course angle2For preset course angle increment, andψdFor guiding fan
Face angle, n are the number that step 3 executes；When submarine navigation device course angle reaches ψHAfterwards, it is immediately performed course angle instruction ψH=ψ, when
After submarine navigation device course angle returns to ψ, submarine navigation device is adjusted according to sound guidance information and is directed toward, submarine navigation device is made to be directed toward docking
Device navigation；
Step 4: repeating step 3, preset until the lateral distance of submarine navigation device and docking facilities central axes is less than
After value, control submarine navigation device is directed toward docking facilities direct route.
Further preferred embodiment, a kind of tail portion propulsion traversing control method of low speed submarine navigation device underwater mating,
It is characterized by: ψ1Not less than 30 °.
Beneficial effect
The low speed submarine navigation device that the present invention is suitable for promoting using single tail portion docks control with docking facilities, takes into account
It is a wide range of traversing with minizone micro-shifting, can make UUV during navigation, Step wise approximation to interface central axes, for guiding detection,
Docking control provides advantage, and low-angle Accuracy Space convenient to carry out is motor-driven, can increase substantially docking success rate.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1: traversing control schematic diagram is docked.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
As shown in Figure 1, one of the present embodiment tail portion promotes the traversing control method of low speed submarine navigation device underwater mating,
The following steps are included:
Step 1: aircraft carries out during being directed toward the navigation of docking facilities according to sound guidance information under water, according to current
Course ψ and submarine navigation device calculate the lateral distance of submarine navigation device and docking facilities central axes at a distance from docking facilities；
Wherein docking facilities central axes are in the direction that course angle is 0；When the lateral distance of submarine navigation device and docking facilities central axes
Greater than given threshold, then step 2 is carried out, otherwise carries out step 3；
Step 2: control submarine navigation device is deflected to docking facilities central axes, and wherein course angle instructs are as follows:
ψH=| ψ |+ψ1
ψ in formulaHNumerical value, ψ are instructed for course angle1For preset course angle increment, ψ1Not less than 30 °；Submarine navigation device
According to ψHSail through to setting time T1Afterwards, control course angle screws to ψ, wherein T1Should control under water aircraft not across to tipping
Central axes are set, and in the range of can drawing by acoustic conductance after submarine navigation device can be made traversing and detecting docking facilities；Work as underwater navigation
After device course angle returns to ψ, submarine navigation device is adjusted according to sound guidance information and is directed toward, submarine navigation device is made to be directed toward docking facilities boat
Row；Return step 1；
Step 3: control submarine navigation device is deflected to docking facilities central axes, and wherein course angle instructs are as follows:
ψ in formulaHNumerical value, ψ are instructed for course angle2For preset course angle increment, andψdFor guiding fan
Face angle, n are the number that step 3 executes；When submarine navigation device course angle reaches ψHAfterwards, it is immediately performed course angle instruction ψH=ψ, when
After submarine navigation device course angle returns to ψ, submarine navigation device is adjusted according to sound guidance information and is directed toward, submarine navigation device is made to be directed toward docking
Device navigation；
Step 4: repeating step 3, preset until the lateral distance of submarine navigation device and docking facilities central axes is less than
After value, control submarine navigation device is directed toward docking facilities direct route.
The low speed submarine navigation device that the present invention is suitable for promoting using single tail portion docks control with docking facilities, takes into account
It is a wide range of traversing with minizone micro-shifting, can make UUV during navigation, Step wise approximation to interface central axes, for guiding detection,
Docking control provides advantage, and low-angle Accuracy Space convenient to carry out is motor-driven, can increase substantially docking success rate.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (2)
1. a kind of tail portion promotes the traversing control method of low speed submarine navigation device underwater mating, it is characterised in that: the following steps are included:
Step 1: aircraft carries out during being directed toward the navigation of docking facilities according to sound guidance information under water, according to current course
ψ and submarine navigation device calculate the lateral distance of submarine navigation device and docking facilities central axes at a distance from docking facilities；Wherein
Docking facilities central axes are in the direction that course angle is 0；When submarine navigation device and the lateral distance of docking facilities central axes are greater than
Given threshold then carries out step 2, otherwise carries out step 3；
Step 2: control submarine navigation device is deflected to docking facilities central axes, and wherein course angle instructs are as follows:
ψH=| ψ |+ψ1
ψ in formulaHNumerical value, ψ are instructed for course angle1For preset course angle increment；Submarine navigation device is according to ψHWhen direct route setting
Between after, control course angle screw to ψ, after submarine navigation device course angle returns to ψ, according to sound guidance information adjust submarine navigation device
It is directed toward, submarine navigation device is made to be directed toward docking facilities navigation；Return step 1；
Step 3: control submarine navigation device is deflected to docking facilities central axes, and wherein course angle instructs are as follows:
ψ in formulaHNumerical value, ψ are instructed for course angle2For preset course angle increment, andψdTo guide sector angle,
N is the number that step 3 executes；When submarine navigation device course angle reaches ψHAfterwards, it is immediately performed course angle instruction ψH=ψ, when underwater boat
After row device course angle returns to ψ, submarine navigation device is adjusted according to sound guidance information and is directed toward, submarine navigation device is made to be directed toward docking facilities boat
Row；
Step 4: step 3 is repeated, until after the lateral distance of submarine navigation device and docking facilities central axes is less than preset value,
It controls submarine navigation device and is directed toward docking facilities direct route.
2. a kind of tail portion promotes the traversing control method of low speed submarine navigation device underwater mating, feature according to claim 1
It is: ψ1Not less than 30 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811401335.9A CN109460058B (en) | 2018-11-22 | 2018-11-22 | Underwater butt joint transverse moving control method for tail-propelled low-speed underwater vehicle |
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|---|---|---|---|
| CN201811401335.9A CN109460058B (en) | 2018-11-22 | 2018-11-22 | Underwater butt joint transverse moving control method for tail-propelled low-speed underwater vehicle |
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| CN109460058A true CN109460058A (en) | 2019-03-12 |
| CN109460058B CN109460058B (en) | 2022-07-19 |
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| CN112684811A (en) * | 2020-12-22 | 2021-04-20 | 西安精密机械研究所 | UUV reciprocating type docking route control method |
| CN114428507A (en) * | 2022-01-14 | 2022-05-03 | 哈工大机器人集团(杭州湾)国际创新研究院 | Vertical docking mooring algorithm for shallow aircraft |
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| CN114428507A (en) * | 2022-01-14 | 2022-05-03 | 哈工大机器人集团(杭州湾)国际创新研究院 | Vertical docking mooring algorithm for shallow aircraft |
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