CN114047772A - Underwater vehicle automatic hovering control system and control method based on water injection and drainage - Google Patents
Underwater vehicle automatic hovering control system and control method based on water injection and drainage Download PDFInfo
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Abstract
The invention provides an automatic hovering control system and a control method of an underwater vehicle based on water injection and drainage. The invention is suitable for the underwater vehicle with water injection and drainage capacity, can automatically control water injection and drainage under the condition of certain initial unbalance, implements automatic hovering of the underwater vehicle, and meets the requirement of the underwater vehicle on automatic depth maintenance. Under the condition of 300L of initial unbalance amount and uniform density layer, the automatic hovering of the underwater vehicle with the depth stability precision of +/-5 m is realized. The invention does not need to depend on the operation experience of an operator, and the hovering control precision is stable and reliable.
Description
Technical Field
The invention belongs to the technical field of underwater vehicle control, and particularly relates to an underwater vehicle automatic hovering control system and method based on water injection and drainage.
Background
The underwater vehicle has the working condition requirement of hovering underwater in the task execution process, such as a tactical method of hovering underwater in a conventional submarine, and the sonar detection distance can be increased during the suspension; the special operational requirements of the multi-task submarine, such as carrying, laying and recycling, require the submarine to be in an underwater hovering state. Because the underwater marine environment is complex, the relation between buoyancy and gravity of the submersible vehicle is changed in real time through water injection and drainage is an important control means, but an operator is required to judge the water injection and drainage amount and the water injection and drainage time according to the depth difference, and the stability and the precision of underwater hovering are seriously dependent on the experience of the operator due to the fact that the underwater submersible vehicle has large motion inertia and obvious time lag effect.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the automatic hovering control system and the control method of the underwater vehicle based on water injection and drainage are used for achieving automatic hovering of the underwater vehicle based on water injection and drainage.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic hovering control system of an underwater vehicle based on water injection and drainage comprises a feedback control law module, a differentiator, a discrete module, a water injection and drainage system and a depth measurement system; the signal receiving end of the feedback control law module is respectively connected with the signal sending ends of the upper computer and the depth measuring system, and the signal sending end of the feedback control law module is respectively connected with the signal sending ends of the differentiator and the discrete module and is used for receiving the hovering target depth signal, the depth change rate signal and the real-time depth signal, performing linear weighting operation according to the difference between the real-time depth and the hovering target depth and the depth change rate, obtaining intermediate control quantity and sending the intermediate control quantity to the differentiator and the discrete module; the differentiator is used for differentiating the intermediate control quantity to obtain a depth differential signal; the signal sending end of the discrete module is connected with the signal receiving end of the water injection and drainage system and used for sending a water injection signal or a drainage signal; the water injection and drainage system acts on the underwater vehicle to realize automatic hovering control.
According to the scheme, the differentiator adopts a tracking differentiator structure, the design parameters of the tracking differentiator are r and h, the depth value of the underwater vehicle at the time T (k) T is set as v (k), and the tracking value at the same time is x1(k) The differential value at the same time is x2(k) The fastest control synthesis function is fhan ()Then the discrete form is:
further, taking a calculation period for the parameter h; the parameter r determines the length of a transition process, the larger the r is, the shorter the transition process is, the larger the impact on the system is, the smaller the r is, the longer the transition process is, and the smaller the impact is; and taking h as 0.1 and r as 5 for the underwater vehicle.
According to the scheme, the linear weighting coefficient of the depth difference is set to be kPThe linear weighting coefficient of the depth change rate is kDAnd if the signs of the two are consistent, the feedback control law module adopts PD control to calculate the intermediate control quantity con _ temp as follows:
Con_temp(k)＝kP×(ζcmd(k)-ζrt(k))+kDζrt_dif(k)。
further, the discrete module discretizes the continuous intermediate control quantity con _ temp according to a discrete rule to match with a water injection and drainage system, generates a water injection and drainage instruction and sends the water injection and drainage instruction to the water injection and drainage system to implement water injection and drainage; the discrete rule of the discrete module is as follows:
if ((a1 < Con _ temp < b1)&(ζrt_dif> 0)) | (Con _ temp > b1), then Con ═ 1, a drain command is sent;
if ((b2 < Con _ temp < a2)&(ζrt_dif< 0)) | (Con _ temp < b2), then Con ═ 1, a water-filling instruction is sent;
if none of the conditions is satisfied, Con is equal to 0, and neither the water discharge command nor the water fill command is transmitted.
Further, k of the feedback control law moduleP、kDAnd the specific values of a and b of the discrete modules are determined by the motion parameters of the underwater vehicle and the iteration of digital simulation.
An automatic hovering control method of an underwater vehicle based on water injection and drainage comprises the following steps:
s0: the method comprises the following steps of constructing an automatic hovering control system which comprises a feedback control law module, a differentiator, a discrete module, a water injection and drainage system and a depth measurement system; the signal receiving end of the feedback control law module is respectively connected with the signal sending ends of the upper computer and the depth measuring system, the signal sending end of the feedback control law module is respectively connected with the signal sending ends of the differentiator and the discrete module, the signal sending end of the discrete module is connected with the signal receiving end of the water injection and drainage system, and the water injection and drainage system acts on the underwater vehicle;
s1: the feedback control law module receives a depth change rate signal and a depth measurement signal sent by a depth measurement system, receives the hovering target depth sent by an upper computer, performs linear weighting to obtain continuous intermediate control quantity, and sends the continuous intermediate control quantity to a differentiator and a discrete module respectively;
s2: the differentiator differentiates the intermediate control quantity and sends the differentiated intermediate control quantity to the discrete module;
s3: after the discrete module receives the intermediate control quantity and the differential signal thereof, discretizing the continuous intermediate control quantity according to a discrete rule to obtain a water injection and drainage instruction:
s4: and after receiving the water injection and drainage instruction, the water injection and drainage system implements water injection operation or drainage operation or no operation, changes the balance relation between the gravity and the buoyancy of the submersible vehicle, changes the depth of the submersible vehicle and realizes automatic hovering control.
Further, in step S3, the specific steps include:
when the intermediate control amount con _ temp satisfies any one of the following two conditions, a water discharge instruction is issued:
1) the con _ temp is located in the interval (a1, b1), and the con _ temp is in the process of becoming larger;
2)con_temp＞b1；
when the intermediate control amount con _ temp satisfies any one of the following two conditions, a water-filling instruction is issued:
3) con _ temp is located within the (b2, a2) interval, and con _ temp is in the process of becoming smaller;
4)con_temp＜b2；
and when the intermediate control quantity does not meet the four conditions, canceling the current water injection instruction or water drainage instruction, and neither injecting water nor draining water.
Further, the resolving in steps S1 to S3 is performed in real time during the hovering process, and the resolving period is 0.1S.
A computer storage medium having stored therein a computer program executable by a computer processor, the computer program executing a method of waterflood-based underwater vehicle auto-hover control.
The invention has the beneficial effects that:
1. according to the automatic hovering control system and the automatic hovering control method for the underwater vehicle based on water injection and drainage, water injection and drainage instructions are automatically calculated and generated in real time according to the real-time depth, the hovering target depth and the depth change rate of the underwater vehicle, and the automatic hovering of the underwater vehicle based on water injection and drainage is realized.
2. The invention is suitable for the underwater vehicle with water injection and drainage capacity, can automatically control water injection and drainage under the condition of certain initial unbalance, implements automatic hovering of the underwater vehicle, and meets the requirement of the underwater vehicle on automatic depth maintenance. Under the condition of 300L of initial unbalance amount and uniform density layer, the automatic hovering of the underwater vehicle with the depth stability precision of +/-5 m is realized.
3. The invention does not need to depend on the operation experience of an operator, and the hovering control precision is stable and reliable.
Drawings
FIG. 1 is a schematic block diagram of an embodiment of the present invention.
Fig. 2 is a graph of the dispersion of an embodiment of the present invention.
FIG. 3 is a block diagram of a differentiator test according to an embodiment of the present invention.
FIG. 4 is a graph of differentiator test results according to an embodiment of the present invention.
FIG. 5 is a functional block diagram of a simulation platform according to an embodiment of the present invention.
FIG. 6 is a functional block diagram of a hover controller of an embodiment of the present invention.
FIG. 7 is a depth variation simulation graph of an embodiment of the present invention.
Fig. 8 is a water injection and drainage state graph according to an embodiment of the present invention.
In the figure: 1. a feedback control law; 2. a differentiator; 3. a discrete module; 4. a water injection and drainage system; 5. submerging; 6. a depth measurement system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the embodiment of the present invention includes a feedback control law 1, a differentiator 2, and a discrete module 3.
The differentiator 2 differentiates the intermediate control quantity to obtain a depth differential signal; the differentiator 2 adopts a tracking differentiator structure, and the discrete form is as follows:
wherein v (k) is the depth value collected by the depth measurement at time T ═ k × T, x1(k) For the simultaneous tracking of values, x2(k) Is a simultaneous differential value. Where fhan () is the fastest control synthesis function. The design parameters of the tracking differentiator 2 are r and h, h generally takes a calculation period, r determines the length of a transition process, the larger r is, the shorter the transition process is, the larger r is, the smaller r is, the longer the transition process is, the smaller the impact is, and the motion change of the underwater vehicle is slower, so that h is generally 0.1, and r is generally 5. The selected differentiator 2 is tested and the test block diagram is shown in fig. 3. The test signals are: and y is sin (t), the test is started when t is 5s, and the test result is shown in fig. 4, and the result is basically consistent with the ideal differential signal.
The feedback control law 1 performs linear weighted operation according to the difference between the current depth and the hovering depth and the depth change rate to obtain an intermediate control quantity Con _ temp (k), wherein the intermediate control quantity is generated in real time at each moment and is a continuous quantity; the feedback control law 1 adopts PD control and has the form:
Con_temp(k)＝kP×(ζcmd(k)-ζrt(k))+kDζrt_dif(k)
wherein k isP、kDThe linear weighting coefficients are depth difference and depth change rate respectively, the signs of the linear weighting coefficients are consistent, and the specific positive and negative are determined by combining the judgment of the discrete module 3.
The discrete module 3 discretizes the continuous intermediate control quantity con _ temp according to a discrete rule to match with the water injection and drainage system, generates a water injection and drainage instruction, and sends the water injection and drainage instruction to the water injection and drainage execution mechanism to implement water injection and drainage, which is shown in a curve shown in fig. 2. The discrete rule of the discrete module 3 is as follows:
if((a1＜Con_temp＜b1)&(ζrt_dif＞0))||(Con_temp＞b1)
con is-1; // draining
elseif((b2＜Con_temp＜a2)&(ζrt_dif＜0))||(Con_temp＜b2)
Con is 1; // Water injection
else
Con is 0; neither water injection nor water drainage
K of feedback control law 1P、kDAnd the specific values of a and b of the discrete module 3 are determined by the motion parameters of the underwater vehicle and the iteration of digital simulation.
The following takes a submersible vehicle as an example, and gives an embodiment of a feedback control law and a discrete module.
Get KP＝1.3，Kd600, the feedback control law is:
Con_temp(k)＝1.3×(ζcmd(k)-ζrt(k))+600ζrt_dif(k)
taking a 1-5, a 2-5, b 1-11 and b 2-11, wherein the discrete rule is as follows:
if((5＜Con_temp＜11)&(ζrt_dif＞0))||(Con_temp＞11)
con is-1; // draining
elseif((-11＜Con_temp＜-5)&(ζrt_dif＜0))||(Con_temp＜-11)
Con is 1; // Water injection
else
Con is 0; neither water injection nor water drainage
The automatic hovering control method comprises the following steps:
s0: setting up an automatic hovering control system, as shown in FIG. 6; constructing a digital simulation platform for the hovering motion of the underwater vehicle, as shown in FIG. 5;
s1: the feedback control law 1 receives a depth change rate signal and a depth measurement signal sent by the depth measurement system 6, combines the hovering target depth sent by the instruction end, and obtains continuous intermediate control quantity after linear weighting;
s2: the differentiator 2 differentiates the intermediate control quantity and then sends the differentiated intermediate control quantity to the discrete module 3;
s3: after receiving the intermediate control quantity and the differential signal thereof, the discrete module 3 discretizes the continuous intermediate control quantity according to a discrete rule to obtain a water injection and drainage instruction:
when the intermediate control amount con _ temp satisfies any one of the following two conditions, a water discharge instruction is issued:
a) the con _ temp is located in the interval (a1, b1), and the con _ temp is in the process of becoming larger;
b)con_temp＞b1。
when the intermediate control amount con _ temp satisfies any one of the following two conditions, a water-filling instruction is issued:
a) con _ temp is located within the (b2, a2) interval, and con _ temp is in the process of becoming smaller;
b)con_temp＜b2。
and when the intermediate control quantity does not meet the four conditions, the current water filling or draining instruction is cancelled, and neither water filling nor water draining is carried out.
S4: the submersible water injection and drainage system 4 implements water injection or drainage after receiving the water injection and drainage instruction;
s5: the water filling or draining changes the balance relation between the gravity and the buoyancy of the submersible vehicle 5, changes the depth of the submersible vehicle, and implements automatic hovering.
The method is used for resolving in real time in the hovering process, and the resolving period is 0.1 s. In the case of equalizing the density layer under the initial unbalance amount of 300L, the depth variation is within +/-5 m through simulation, as shown in FIG. 7; the water injection and drainage state in the automatic hovering process is shown in fig. 8, wherein the vertical axis in the figure is 1 for water injection, the coordinate of the vertical axis is-1 for water drainage, and the coordinate of the vertical axis is 0 for no water injection or no water drainage.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an automatic control system that hovers of underwater vehicle based on annotate drainage which characterized in that: the system comprises a feedback control law module, a differentiator, a discrete module, a water injection and drainage system and a depth measurement system;
the signal receiving end of the feedback control law module is respectively connected with the signal sending ends of the upper computer and the depth measuring system, and the signal sending end of the feedback control law module is respectively connected with the signal sending ends of the differentiator and the discrete module and is used for receiving the hovering target depth signal, the depth change rate signal and the real-time depth signal, performing linear weighting operation according to the difference between the real-time depth and the hovering target depth and the depth change rate, obtaining intermediate control quantity and sending the intermediate control quantity to the differentiator and the discrete module;
the differentiator is used for differentiating the intermediate control quantity to obtain a depth differential signal;
the signal sending end of the discrete module is connected with the signal receiving end of the water injection and drainage system and used for sending a water injection signal or a drainage signal;
the water injection and drainage system acts on the underwater vehicle to realize automatic hovering control.
2. The automatic hovering control system of an underwater vehicle based on water injection and drainage according to claim 1, characterized in that: the differentiator adopts a tracking differentiator structure, the design parameters of the tracking differentiator are r and h, the depth value of the underwater vehicle at the time T k T is set as v (k), and the tracking value at the same time is x1(k) The differential value at the same time is x2(k) And if the fastest control comprehensive function is fhan (), the discrete form is:
3. the automatic hovering control system of an underwater vehicle based on water injection and drainage according to claim 2, characterized in that: taking a calculation period for the parameter h; the parameter r determines the length of a transition process, the larger the r is, the shorter the transition process is, the larger the impact on the system is, the smaller the r is, the longer the transition process is, and the smaller the impact is; and taking h as 0.1 and r as 5 for the underwater vehicle.
4. The automatic hovering control system of an underwater vehicle based on water injection and drainage according to claim 1, characterized in that: let the linear weighting coefficient of the depth difference be kPThe linear weighting coefficient of the depth change rate is kDAnd if the signs of the two are consistent, the feedback control law module adopts PD control to calculate the intermediate control quantity con _ temp as follows:
Con_temp(k)＝kP×(ζcmd(k)-ζrt(k))+kDζrt_dif(k)。
5. the automatic hovering control system of an underwater vehicle based on water injection and drainage according to claim 4, wherein: the discrete module discretizes the continuous intermediate control quantity con _ temp according to a discrete rule to match with a water injection and drainage system, generates a water injection and drainage instruction and sends the water injection and drainage instruction to the water injection and drainage system to implement water injection and drainage; the discrete rule of the discrete module is as follows:
if ((a1 < Con _ temp < b1)&(ζrt_dif> 0)) | (Con _ temp > b1), then Con ═ 1, a drain command is sent;
if ((b2 < Con _ temp < a2)&(ζrt_dif< 0)) | (Con _ temp < b2), then Con ═ 1, a water-filling instruction is sent;
if none of the conditions is satisfied, Con is equal to 0, and neither the water discharge command nor the water fill command is transmitted.
6. The automatic hovering control system of an underwater vehicle based on water injection and drainage according to claim 5, wherein: k of feedback control law moduleP、kDAnd the specific values of a and b of the discrete modules are determined by the motion parameters of the underwater vehicle and the iteration of digital simulation.
7. A control method of the automatic suspension control system of the underwater vehicle based on water injection and drainage, which is based on any one of the claims 1 to 6, is characterized in that: the method comprises the following steps:
s0: the method comprises the following steps of constructing an automatic hovering control system which comprises a feedback control law module, a differentiator, a discrete module, a water injection and drainage system and a depth measurement system; the signal receiving end of the feedback control law module is respectively connected with the signal sending ends of the upper computer and the depth measuring system, the signal sending end of the feedback control law module is respectively connected with the signal sending ends of the differentiator and the discrete module, the signal sending end of the discrete module is connected with the signal receiving end of the water injection and drainage system, and the water injection and drainage system acts on the underwater vehicle;
s1: the feedback control law module receives a depth change rate signal and a depth measurement signal sent by a depth measurement system, receives the hovering target depth sent by an upper computer, performs linear weighting to obtain continuous intermediate control quantity, and sends the continuous intermediate control quantity to a differentiator and a discrete module respectively;
s2: the differentiator differentiates the intermediate control quantity and sends the differentiated intermediate control quantity to the discrete module;
s3: after the discrete module receives the intermediate control quantity and the differential signal thereof, discretizing the continuous intermediate control quantity according to a discrete rule to obtain a water injection and drainage instruction:
s4: and after receiving the water injection and drainage instruction, the water injection and drainage system implements water injection operation or drainage operation or no operation, changes the balance relation between the gravity and the buoyancy of the submersible vehicle, changes the depth of the submersible vehicle and realizes automatic hovering control.
8. The control method according to claim 7, characterized in that: in the step S3, the specific steps are as follows:
when the intermediate control amount con _ temp satisfies any one of the following two conditions, a water discharge instruction is issued:
1) the con _ temp is located in the interval (a1, b1), and the con _ temp is in the process of becoming larger;
2)con_temp＞b1；
when the intermediate control amount con _ temp satisfies any one of the following two conditions, a water-filling instruction is issued:
3) con _ temp is located within the (b2, a2) interval, and con _ temp is in the process of becoming smaller;
4)con_temp＜b2；
and when the intermediate control quantity does not meet the four conditions, canceling the current water injection instruction or water drainage instruction, and neither injecting water nor draining water.
9. The control method according to claim 7, characterized in that:
the resolution of steps S1 to S3 is performed in real time during the hovering process, and the resolution cycle is 0.1S.
10. A computer storage medium, characterized in that: stored therein is a computer program executable by a computer processor, the computer program executing a method for controlling an automatic hovering of a submersible based on water flooding according to any one of claims 7 to 9.
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