CN114428507A - Vertical docking mooring algorithm for shallow aircraft - Google Patents

Vertical docking mooring algorithm for shallow aircraft Download PDF

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CN114428507A
CN114428507A CN202210040860.2A CN202210040860A CN114428507A CN 114428507 A CN114428507 A CN 114428507A CN 202210040860 A CN202210040860 A CN 202210040860A CN 114428507 A CN114428507 A CN 114428507A
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shallow
aircraft
navigation device
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angle
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CN114428507B (en
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杨艳彬
鄢立夏
潘如东
张川
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Harbin Institute Of Technology Robot Group Hangzhou Bay International Innovation Research Institute
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Abstract

The invention relates to the field of automatic control of shallow aircrafts, in particular to a vertical docking parking algorithm for a shallow aircraft, which comprises the following steps: setting an expected pitch angle, an expected course angle and an expected running speed of the shallow aircraft body; calculating the real-time propulsion amount of each propeller according to a set value, and controlling the operation of the shallow navigation device; the shallow navigation device runs to the water surface, and the control is finished; the advantages are that: the underwater shallow navigation device is mechanically operated through an underwater closed loop to realize vertical translation advancing on the water surface so as to finish docking and docking actions; the foundation is laid for improving the working condition adaptability of the shallow navigation device and improving the operation convenience and practicability of the shallow navigation device.

Description

Vertical docking mooring algorithm for shallow aircraft
Technical Field
The invention relates to the field of automatic control of shallow aircrafts, in particular to a vertical docking parking algorithm for a shallow aircraft.
Background
In the prior art, the automatic mode of berthing of shallow boat ware is horizontal docking, however under some operating modes, the perpendicular mode of berthing of shallow boat ware compares with horizontal mode of berthing, has higher convenience and practicality. However, in the automatic control algorithm of the existing shallow navigation device, the vertical docking algorithm for the shallow navigation device is not available.
Based on this, the present disclosure is thus directed.
Disclosure of Invention
The invention aims to provide a vertical docking algorithm for a shallow navigation device, which enables the shallow navigation device running underwater to move horizontally on the water surface through underwater closed loop maneuvering action so as to complete docking action.
In order to achieve the purpose, the technical scheme of the invention is as follows:
vertical docking mooring algorithm for shallow aircraft with six underwater thrusters with forward and reverse propulsion functions, wherein the propulsion of two vertical thrusters is represented by TS1And TS2The propulsion of the two transverse thrusters is denoted TH2And TH2The propulsion of the left main propeller is denoted TZThe propulsion of the right main propeller is denoted TY；
Constructing a coordinate system of the shallow navigation device body, taking the length direction of the shallow navigation device body as an X axis, the width direction as a Y axis, the height direction as a Z axis, and taking the angle of the shallow navigation device body rotating around the Y axis as a pitch angle phiJThe angle of rotation about the Z axis being the course angle psiJ；
The method comprises the following steps:
setting a desired pitch angle phi of a shallow aircraft bodyrDesired heading angle psirDesired operating speed vr；
Calculating the real-time propulsion amount of each propeller according to a set value, and controlling the operation of the shallow navigation device;
the shallow navigation device runs to the water surface, and the control is finished;
the propulsion amount calculation formula of each propeller is as follows:
Figure BDA0003470159960000021
Figure BDA0003470159960000022
Figure BDA0003470159960000023
Figure BDA0003470159960000024
Figure BDA0003470159960000025
Figure BDA0003470159960000026
wherein L isφThe distance from any one vertical propeller to the center of the shallow aircraft, LψDistance from any one of the transverse thrusters to the center of the shallow aircraft, IφFor moment of inertia about the Y axis of the body, IψIs moment of inertia about the Z axis of the body, k1And k2In order to control the parameters of the system,
Figure BDA0003470159960000027
the speed of descent of the shallow aircraft is shown,
Figure BDA0003470159960000028
representing the horizontal travel speed of the shallow aircraft, tanh is a hyperbolic tangent saturation function,
Figure BDA0003470159960000029
the angular velocity of the pitching angle of the shallow aircraft body is represented,
Figure BDA00034701599600000210
the angular velocity representing the heading angle of the shallow aircraft body.
Further, the setting of the expected value of the shallow aircraft comprises the following steps:
dividing the vertical docking and mooring process of the shallow aircraft into a pitching and diving stage of the aircraft body, an upward pitching stage of the aircraft body and a vertical translation stage of the aircraft body, setting the expected course angle of the three stages as 0 degree, and setting the expected speed as an arbitrary value of the range which can be realized by the shallow aircraft; in the pitching and submerging stage of the machine body, the expected pitch angle is set to be-45 degrees, in the pitching stage of the machine body, the expected pitch angle is set to be 0 degree, and in the vertical translation stage of the machine body, the expected pitch angle is set to be 90 degrees.
The invention has the advantages that: through a control algorithm, automatic vertical docking parking of the shallow navigation device is achieved, and a foundation is laid for improving the working condition adaptability of the shallow navigation device and improving the operation convenience and practicability of the shallow navigation device.
Drawings
FIG. 1 is a schematic diagram of the effect of the algorithm according to the embodiment;
FIG. 2 is a schematic configuration diagram of six thrusters of the shallow aircraft;
FIG. 3 is a schematic diagram of body coordinates of the shallow navigation device;
figure 4 is a schematic flow chart of an implementation of the algorithm of the embodiment for vertical docking;
FIG. 5 is a diagram illustrating numerical example results using an example algorithm.
Detailed Description
The present invention will be described in further detail with reference to examples.
The embodiment proposes a vertical docking algorithm for shallow aircraft motion control to improve the motion traveling and task execution capacity of the shallow aircraft under special operation conditions, and the implementation effect of the algorithm is shown in fig. 1 (the right side is a starting point). The final purpose of the embodiment is to enable the shallow navigation device running under water to move in a vertical translation mode on the water surface through the underwater closed loop maneuvering action so as to complete the docking action. In the implementation effect, the underwater action of the shallow navigation machine body comprises a controllable pitching diving stage, a pitching stage and a vertical translation stage.
The power configuration of the shallow navigation device in this embodiment is shown in fig. 2, and includes six underwater thrusters with forward and reverse propulsion functions, namely, a "vertical thruster 1", a "vertical thruster 2", a "horizontal thruster 1", a "horizontal thruster 2", a "left-main thruster", and a "right-main thruster"The propulsion amounts of six propellers are respectively represented by the symbol TS1,TS2,TH1,TH2,TZ,TYWherein S represents vertical, H represents horizontal, Z represents left and Y represents right, the distances from the vertical propeller 1 and the vertical propeller 2 to the center point of the machine body are the same, and the distances from the transverse propeller 1 and the transverse propeller 2 to the center point of the machine body are the same. To achieve the effect shown in fig. 1, the propulsion amount of each propeller needs to be calculated.
As shown in fig. 3, a schematic diagram of a coordinate system of the shallow navigation device body of the present embodiment is shown, that is, the length direction of the shallow navigation device body is taken as an X axis, the width direction is taken as a Y axis, and the height direction is taken as a Z axis. The angle of rotation around the X-axis is called the roll angle theta of the machine body based on the right-hand ruleJThe angle of rotation about the Y axis is called the pitch angle phi of the machine bodyJThe angle of rotation about the Z-axis being referred to as the body heading angle psiJ。
To calculate the amount of thrust, the angular velocity of the pitch angle needs to be obtained
Figure BDA0003470159960000041
And angular velocity of course angle
Figure BDA0003470159960000042
Since the roll angle motion can be neglected for the vertical docking station mooring motion, only the pitch, heading angle dynamic model needs to be built as follows:
Figure BDA0003470159960000043
wherein L isφThe distance L from the vertical propeller 1 or the vertical propeller 2 to the center of the shallow aircraftψThe distance from the transverse propeller 1 or the transverse propeller 2 to the center of the shallow aircraft, IφFor moment of inertia about the Y axis of the body, IψIs the moment of inertia around the Z axis of the machine body.
Figure BDA0003470159960000044
I.e. phiJSecond derivative of (2), representing phiJThe angular acceleration of the pitch angle of (a),
Figure BDA0003470159960000045
i.e. psiJThe second derivative of the angular acceleration represents the angular acceleration of the course angle, and the angular speeds of the pitch angle and the course angle can be obtained by establishing a dynamic model of the pitch angle and the course angle
Figure BDA0003470159960000046
In order to realize calculation of the propulsion quantity, a depth dynamic model and a forward distance dynamic model of the shallow aircraft are also established, wherein the depth dynamic model of the shallow aircraft is
Figure BDA0003470159960000047
The dynamic model of the advance distance is
Figure BDA0003470159960000048
In the formula
Figure BDA0003470159960000049
The descending acceleration representing the shallow aircraft is the second derivative of the descending depth d of the shallow aircraft, and the descending speed of the shallow aircraft can be obtained through a dynamic model of the depth of the shallow aircraft
Figure BDA00034701599600000410
In a similar manner, in the formula
Figure BDA00034701599600000411
Representing the horizontal advancing acceleration of the shallow aircraft, which is the second derivative of the horizontal advancing distance l of the shallow aircraft, and the horizontal advancing speed of the shallow aircraft can be obtained through an advancing distance dynamic model
Figure BDA00034701599600000412
Let the desired pitch angle and heading angle be phi respectivelyr、ψrLet the desired operating speed be vrThe following saturation control algorithm is constructed:
Figure BDA00034701599600000413
wherein k is1＞0,k2> 0 is a control parameter, tanh is the hyperbolic tangent saturation function. Because the models of the two vertical propellers are the same, the models of the two transverse propellers are the same, and the models of the left main propeller and the right main propeller are the same, the propulsion calculation formula of each propeller can be obtained through the saturation control algorithm:
Figure BDA00034701599600000414
Figure BDA0003470159960000051
Figure BDA0003470159960000052
Figure BDA0003470159960000053
Figure BDA0003470159960000054
Figure BDA0003470159960000055
according to the above calculation formula of the propulsion amount, the vertical docking parking control described in this embodiment can be implemented by setting the desired pitch angle, heading angle and velocity value, and the execution flow is shown in fig. 4.
As shown in fig. 4, the desired pitch angle is assigned according to the time series signal, when the time T is less than 5s, the shallow aircraft is in the pitching diving stage, and the desired pitch angle is set to-45 °; when the time T is more than or equal to 5s and less than 10s, the shallow navigation device is in the pitching-up stage, and the expected pitch angle is set to be 0 degree; when the time T is more than or equal to 10s, the shallow aircraft is in a vertical translation stage, and the expected pitch angle is set to be 0 degrees. In the process, the expected course angle is always 0 degree; the desired speed is alwaysvrThe value can be arbitrarily selected within the range that the shallow navigation device can realize. The algorithm ends when the water surface is reached, i.e. the depth value is 0m (shallow aircraft is out of the water). Fig. 5 is a diagram showing the numerical calculation result using the algorithm of the present embodiment. The time T in the execution flow may be determined according to the actual operating conditions.
The above-mentioned embodiments are merely illustrative of the inventive concept and are not intended to limit the scope of the invention, which is defined by the claims and the insubstantial modifications of the inventive concept can be made without departing from the scope of the invention.

Claims (2)

1. Vertical docking mooring algorithm for shallow aircraft with six underwater thrusters with forward and reverse propulsion functions, wherein the propulsion of two vertical thrusters is represented by TS1And TS2The propulsion of the two transverse thrusters is denoted TH2And TH2The propulsion of the left main propeller is denoted TZThe propulsion of the right main propeller is denoted TY；
Constructing a coordinate system of the shallow navigation device body, taking the length direction of the shallow navigation device body as an X axis, the width direction as a Y axis, the height direction as a Z axis, and taking the angle of the shallow navigation device body rotating around the Y axis as a pitch angle phiJThe angle of rotation about the Z axis being the course angle psiJ；
The method is characterized by comprising the following steps:
setting a desired pitch angle phi of a shallow aircraft bodyrDesired heading angle psirDesired operating speed vr；
Calculating the real-time propulsion amount of each propeller according to a set value, and controlling the operation of the shallow navigation device;
the shallow navigation device runs to the water surface, and the control is finished;
the propulsion amount calculation formula of each propeller is as follows:
Figure FDA0003470159950000011
Figure FDA0003470159950000012
Figure FDA0003470159950000013
Figure FDA0003470159950000014
Figure FDA0003470159950000015
Figure FDA0003470159950000016
wherein L isφThe distance from any one vertical propeller to the center of the shallow aircraft, LψDistance from any one of the transverse thrusters to the center of the shallow aircraft, IφIs moment of inertia about the Y-axis of the body, IψIs moment of inertia about the Z axis of the body, k1And k2In order to control the parameters of the device,
Figure FDA0003470159950000017
the speed of descent of the shallow aircraft is shown,
Figure FDA0003470159950000018
representing the horizontal travel speed of the shallow aircraft, tanh is a hyperbolic tangent saturation function,
Figure FDA0003470159950000021
the angular velocity of the pitch angle of the shallow aircraft body is shown,
Figure FDA0003470159950000022
indicating heading angle of shallow aircraft bodyThe angular velocity.
2. The vertical docking algorithm for shallow aircraft as claimed in claim 1, wherein the desired value setting for the shallow aircraft comprises: dividing the vertical docking and mooring process of the shallow aircraft into a pitching and diving stage of the aircraft body, an upward pitching stage of the aircraft body and a vertical translation stage of the aircraft body, setting the expected course angle of the three stages as 0 degree, and setting the expected speed as an arbitrary value of the range which can be realized by the shallow aircraft; in the pitching and submerging stage of the machine body, the expected pitch angle is set to be-45 degrees, in the pitching stage of the machine body, the expected pitch angle is set to be 0 degree, and in the vertical translation stage of the machine body, the expected pitch angle is set to be 90 degrees.
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