CN115447737A - Deep sea underwater vehicle for realizing joint motion control - Google Patents
Deep sea underwater vehicle for realizing joint motion control Download PDFInfo
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- CN115447737A CN115447737A CN202211265963.5A CN202211265963A CN115447737A CN 115447737 A CN115447737 A CN 115447737A CN 202211265963 A CN202211265963 A CN 202211265963A CN 115447737 A CN115447737 A CN 115447737A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
- B63G8/14—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
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a deep sea underwater vehicle for realizing combined motion control, which relates to the field of deep sea underwater vehicles, wherein a motion controller in the deep sea underwater vehicle controls a residual buoyancy adjusting device at the bow part of a pressure-resistant cabin according to an advanced adjusting quantity corresponding to theoretical sea water density at a target depth, the deep sea underwater vehicle can be adjusted in advance to generate a submerged longitudinal inclination angle and be in a negative buoyancy state, the deep sea underwater vehicle can be rapidly submerged under the conditions of the submerged longitudinal inclination angle and the negative buoyancy state, the increased density at a large depth can be offset under the negative buoyancy state, the deep sea underwater vehicle can be rapidly adapted to the change of the sea water density, then the deep sea underwater vehicle can be rapidly submerged to the target depth under the real-time adjustment of the deep sea underwater vehicle by utilizing a propeller and a tail rudder, and the problems of unstable control and difficult submergence of an underwater unmanned underwater vehicle caused by rapid change of the sea water density under a deep sea environment can be solved through the combined motion control of a plurality of devices.
Description
Technical Field
The application relates to the field of deep-sea submergence vehicles, in particular to a deep-sea submergence vehicle for realizing joint motion control.
Background
The underwater unmanned vehicle is important equipment for marine environment detection, can submerge to a required depth to execute various required marine operations, and can cover the whole sea depth to reach a depth of ten thousand meters at present. However, in the deep sea environment, the problem that the deep sea unmanned underwater vehicle is difficult to submerge is particularly prominent due to the fact that the density of the sea water is increased sharply compared with that of the sea surface, and the use of the deep sea unmanned underwater vehicle in the deep sea environment is limited.
Disclosure of Invention
In view of the above problems and technical needs, the present applicant proposes a deep sea underwater vehicle for implementing joint motion control, and the technical scheme of the present application is as follows:
a deep sea underwater vehicle for realizing combined motion control comprises a motion controller, a residual buoyancy adjusting device arranged at the bow part of a pressure-resistant cabin of the deep sea underwater vehicle, and a propeller and a tail vane arranged at the stern part outside the pressure-resistant cabin; the motion controller is connected with and controls the buoyancy adjusting device, the propeller and the tail rudder;
the method executed by the motion controller comprises the following steps:
performing a lead adjustment operation: determining theoretical seawater density rho at target depth of deep-sea submersible 1 Determining theoretical sea water density rho 1 Corresponding lead adjustment V f And according to the advance adjustment amount V f Controlling the residual buoyancy adjusting device to adjust the deep sea underwater vehicle to a negative buoyancy state, so that the deep sea underwater vehicle generates a first burial longitudinal inclination angle and starts to dive;
after the control over the remaining buoyancy adjusting devices is completed and the advance adjusting operation is completed, performing a real-time adjusting operation: and controlling the propeller to work, and controlling the tail rudder by using a double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea underwater vehicle and the real-time pitch angle of the deep sea underwater vehicle until the deep sea underwater vehicle submerges to the target depth, wherein the double-layer parameter separation controller forms a double closed-loop control structure by using a pitch angle control ring as an inner ring and a depth control ring as an outer ring.
The further technical scheme is that the residual buoyancy adjusting device comprises an outer oil bag and an inner oil bag which are arranged at the bow part of the pressure-resistant cabin and connected through an oil way, the outer oil bag is arranged outside the pressure-resistant cabin, and the inner oil bag is arranged in the pressure-resistant cabin;
determination of theoretical seawater density rho by motion controller 1 Corresponding lead adjustment V f And according to the advanced adjustment quantity V f The method for controlling the remaining buoyancy adjusting device comprises the following steps:
determination of theoretical seawater density ρ 1 Corresponding lead adjustment amount
And according to the advance adjustment quantity V f Controlling the outer oil bag to return oil to the inner oil bag through an oil way, wherein V is the water drainage volume of the deep sea underwater vehicle, and rho 0 Sea surface sea water density, V y Is the amount of compression of the deep sea submersible at the target depth.
The further technical scheme is that the tail rudder comprises an upper vertical rudder, a lower vertical rudder and a left horizontal rudder, the motion controller controls the vertical rudders to adjust the course of the deep sea underwater vehicle, and the method for controlling the horizontal rudders in the tail rudder to adjust the depth of the deep sea underwater vehicle by the motion controller through the double-layer parameter separation controller comprises the following steps:
in the depth control loop, the difference value of the target depth and the real-time depth is input into a PID controller to generate a target pitch angle and is input into a pitch angle control loop;
in the pitch angle control loop, the difference value of the target pitch angle and the real-time pitch angle is input into a PD controller to generate a target rudder angle of the horizontal rudder;
and controlling the horizontal rudder according to the target rudder angle of the horizontal rudder.
The further technical scheme is that for the double-layer parameter separation controller:
in the depth control ring, when the longitudinal inclination angle generated by the PID controller is within the longitudinal inclination angle range, the longitudinal inclination angle is directly used as a target longitudinal inclination angle and is input into the longitudinal inclination angle control ring; when the trim angle generated by the PID controller exceeds the trim angle range, performing amplitude limiting processing on the trim angle according to the trim angle range to obtain a target trim angle input trim angle control ring;
in the pitch angle control ring, when the candidate rudder angle generated by the PD controller is within the rudder angle range of the horizontal rudder, the candidate rudder angle is directly used as the target rudder angle; and when the candidate rudder angle generated by the PD controller exceeds the rudder angle range of the horizontal rudder, carrying out amplitude limiting processing on the candidate rudder angle according to the rudder angle range of the horizontal rudder to obtain a target rudder angle.
The further technical scheme is that the method executed by the motion controller also comprises the following steps:
when the deep sea underwater vehicle submerges to reach the target depth and sails under the target depth, the real-time adjustment operation is continuously executed: and controlling the propeller to continuously work, and continuously controlling the tail rudder by using the double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea underwater vehicle and the real-time pitch angle of the deep sea underwater vehicle, so as to stabilize the deep sea underwater vehicle to sail at the target depth in a fixed depth.
The further technical scheme is that the deep sea underwater vehicle further comprises a sensor assembly which is arranged outside the pressure-resistant cabin and electrically connected with the motion controller, and after the deep sea underwater vehicle submerges to reach the target depth, the motion controller further executes fine adjustment operation, wherein the fine adjustment operation comprises the following steps:
when the deep-sea underwater vehicle submerges to a target depth, acquiring the seawater temperature and the seawater conductivity of the seawater around the deep-sea underwater vehicle through the sensor assembly;
calculating to obtain the actually measured seawater density rho at the target depth according to the seawater temperature and the seawater conductivity 1s ；
Determining the actually measured seawater density rho 1s Corresponding actual regulating variable V fs And will adjust the amount V in advance f Controlling the residual buoyancy regulating device to correct the residual buoyancy regulating device according to the actual regulating quantity V fs Controlling the remaining buoyancy regulating device.
The deep sea underwater vehicle further comprises an attitude adjusting device arranged in the pressure-resistant cabin, and the motion controller is connected with and controls the attitude adjusting device; when the deep sea underwater vehicle submerges to reach the target depth, the motion controller further executes superposition adjustment operation, which comprises the following steps:
when the deep-sea submersible vehicle submerges to reach the target depth, the actual regulating quantity V of the residual buoyancy regulating device is regulated fs And controlling the attitude adjusting device to balance and adjust the embedded longitudinal inclination angle generated by the residual buoyancy adjusting device.
Its further technical scheme does, gesture adjusting device is including setting up the slider on slide mechanism, and motion controller connects and controls slide mechanism and drive the slider and slide, and the stack regulation operation that motion controller executed includes:
the sliding mechanism is controlled to drive the sliding block to slide towards the direction close to the stern of the deep sea underwater vehicle by the distance
Wherein L is f Is the distance between the outer and inner oil pockets, and m is the weight of the slider.
The further technical scheme is that the method executed by the motion controller also comprises the following steps:
performing a lead adjustment operation: controlling the residual buoyancy adjusting device to recover to an initial state when the deep sea underwater vehicle is located on the sea surface, so that the deep sea underwater vehicle generates a head-lifting longitudinal inclination angle and starts to float;
after the control over the remaining buoyancy adjusting devices is completed and the advance adjusting operation is completed, performing a real-time adjusting operation: and keeping the propeller working and controlling the tail rudder by using the double-layer parameter separation controller until the deep-sea underwater vehicle floats to the sea surface.
The further technical scheme is that after the deep sea underwater vehicle floats to the sea surface, the motion controller also executes superposition adjustment operation, and the method comprises the following steps:
after the deep sea underwater vehicle floats to the sea surface, the actual regulating quantity V of the residual buoyancy regulating device is regulated fs And controlling the attitude adjusting device to balance the head-lifting longitudinal inclination angle generated by the residual buoyancy adjusting device.
The beneficial technical effect of this application is:
the application discloses realize deep sea underwater vehicle of joint motion control, this deep sea underwater vehicle utilizes motion controller to carry out advanced control to surplus buoyancy adjusting device and makes deep sea underwater vehicle produce the first dip angle of burial and be in the negative buoyancy state to utilize screw and tail vane to realize real-time regulation to deep sea underwater vehicle, first dip angle of burial and negative buoyancy state can make deep sea underwater vehicle dive fast, the increase of density under the negative buoyancy state can offset the large-depth, make deep sea underwater vehicle adapt to the sea water density change fast, combine to accomplish the fast dive of deep sea underwater vehicle to the control of tail vane, reach the target depth, be particularly useful for under the deep sea scene.
After the deep sea underwater vehicle reaches the target depth, the residual buoyancy adjusting device is accurately adjusted by utilizing the post fine adjusting process, the embedded longitudinal inclination angle generated by the residual buoyancy adjusting device is balanced through the superposition adjusting process, the posture of the deep sea underwater vehicle is balanced, and the posture stability of the deep sea underwater vehicle is facilitated.
In addition, under the target depth, the tail vane is controlled through the real-time adjusting process, the depth of the deep sea vehicle can be stabilized, the deep sea vehicle can sail at the target depth in a fixed depth mode, and the deep sea vehicle can keep control stability even when the deep sea vehicle is subjected to rapid change of sea water density under the deep sea environment.
The deep sea underwater vehicle can quickly float by performing advanced adjustment on the residual buoyancy adjusting device and performing real-time adjustment on the propeller and the tail vane, and after the deep sea underwater vehicle floats to the sea surface, the head-lifting longitudinal inclination angle generated by the residual buoyancy adjusting device is balanced by utilizing the superposition adjusting process, so that the posture of the deep sea underwater vehicle is favorably balanced.
The deep sea underwater vehicle is controlled by the combined motion of a plurality of devices, and is beneficial to solving the problems of unstable control and difficult submergence of the underwater unmanned vehicle caused by the rapid change of the seawater density in the deep sea environment. And the problem of under-actuated decoupling of the single tail rudder for simultaneously controlling the longitudinal inclination angle and the depth multiple degree of freedom is realized by using a double-layer parameter separator in a hierarchical control mode, and the control accuracy is higher.
Drawings
Fig. 1 is a schematic structural view of a deep sea submersible according to an embodiment.
FIG. 2 is a diagram illustrating the motion of the deep sea vehicle in one embodiment during different stages.
FIG. 3 is a flow diagram of a method performed by the motion controller to implement joint motion control for a deep-sea submersible in one embodiment.
FIG. 4 is a control block diagram of a tail vane controlled using a two-level parameter splitter in one embodiment.
Detailed Description
The following description of the embodiments of the present application will be made with reference to the accompanying drawings.
The application discloses a deep sea underwater vehicle for realizing combined motion control, please refer to the schematic structural diagram of the deep sea underwater vehicle shown in fig. 1, and the deep sea underwater vehicle comprises a motion controller 2 arranged in a pressure resistant cabin 1 of the deep sea underwater vehicle, a residual buoyancy adjusting device 3 arranged at the bow part of the pressure resistant cabin 1, and a propeller 4 and a tail rudder 5 arranged at the stern part outside the pressure resistant cabin 1. The motion controller 2 is connected with and controls the buoyancy adjusting device 3, the propeller 4 and the tail rudder 5. The motion controller 2 has functions of control, calculation, data storage and the like, and can be realized by combining an embedded low-power control board with an E2PROM, wherein the embedded low-power control board is used for realizing the functions of calculation control and the like, and the E2PROM is used for realizing the data storage function.
In one embodiment, the tail rudder 5 comprises an upper vertical rudder, a lower vertical rudder and a left horizontal rudder, the motion controller 2 controls the vertical rudder to adjust the course direction of the deep sea underwater vehicle, and the motion controller 2 controls the horizontal rudder to adjust the depth of the deep sea underwater vehicle. The propeller 4 is used to provide forward thrust. The tail rudder 5 and the propeller 4 form a motion stabilizer, and the depth and the course of the deep sea underwater vehicle in the high-speed motion process can be stably controlled by utilizing the quick adjustment function of the tail rudder 5 and the forward thrust provided by the propeller.
The residual buoyancy adjusting device 3 can adjust the buoyancy of the deep sea submersible vehicle. In one embodiment, the residual buoyancy adjusting device 3 comprises an outer oil bag 31 and an inner oil bag 32 which are arranged at the bow of the pressure-resistant cabin 1 and connected through an oil path, wherein the outer oil bag 31 is arranged outside the pressure-resistant cabin 1, and the inner oil bag 32 is arranged inside the pressure-resistant cabin 1. The volume of the outer oil bag 31 can be reduced by controlling the oil return of the outer oil bag 31 to the inner oil bag 32, so that the buoyancy is reduced, the volume of the outer oil bag 31 can be increased by controlling the oil outlet of the inner oil bag 32 to the outer oil bag 31, so that the buoyancy is increased, and the buoyancy adjustment is realized.
In one embodiment, the deep sea underwater vehicle further comprises an attitude adjusting device 6 arranged in the pressure-resistant cabin 1, and the motion controller 2 is connected with and controls the attitude adjusting device 6. The attitude adjusting device 6 can be used for adjusting the gravity center of the deep sea underwater vehicle so as to adjust the attitude of the deep sea underwater vehicle, the residual buoyancy adjusting device 3 and the attitude adjusting device 6 form a static balancer, and the static balancer is used for balancing the static part of the deep sea underwater vehicle with increased buoyancy caused by deep sea density change. The attitude adjustment means 6 may be arranged at any suitable location within the pressure resistant capsule 1, which fig. 1 only schematically arranges at the bow. In one embodiment, the posture adjusting device 6 includes a sliding block disposed on the sliding mechanism, and the motion controller 2 is connected to and controls the sliding mechanism to drive the sliding block to slide, so as to adjust the center of gravity.
In one embodiment, the deep sea underwater vehicle further comprises a sensor assembly 7 which is arranged outside the pressure-resistant cabin 1 and electrically connected with the motion controller 2, the sensor assembly 7 can be realized by adopting a marine CTD multi-parameter sensor, and the sensor assembly 7 is used for sensing parameters such as the seawater temperature, the seawater conductivity and the seawater depth of the seawater around the deep sea underwater vehicle.
In addition, the pressure-resistant cabin 1 also comprises an optical fiber measuring device 8 fixedly connected with the pressure-resistant cabin 1, and the optical fiber measuring device 8 is electrically connected with the motion controller 2. The optical fiber measuring device 8 is used for sensing parameters such as attitude information, course information and the like of the deep sea underwater vehicle. The optical fiber measuring device 8 and the sensor component 7 form a sensing structure for sensing the motion parameters and the environmental parameters of the deep sea submersible vehicle.
Based on the schematic structural diagram shown in fig. 1, the method executed by the motion controller to perform joint motion control on the deep-sea submersible vehicle includes the following steps, the joint motion control in the present application mainly aims at the process of submerging the deep-sea submersible vehicle from the sea surface to the target depth and then floating back to the sea surface, please refer to the schematic diagram shown in fig. 2 and the flowchart of the steps shown in fig. 3, and the method executed by the motion controller 2 includes:
1. submergence stage from sea surface to target depth
1. Control information is determined.
The control information is mainly used for indicating the target depth and the target course of the deep-sea underwater vehicle, and also indicating the stable navigation time T of the deep-sea underwater vehicle at the target depth, and parameters such as navigation speed and the like. The control information may be received by the deep sea vehicle from a shore station while at the sea surface.
2. And (5) a lead adjustment process.
After the control information is determined, the deep sea submersible vehicle can be controlled to dive. The motion controller 2 stores therein a depth density curve indicating the density of the seawater at different depths in the seawater, and the depth density curve is obtained by fitting in advance in the form of historical data or theoretical calculation or the like. The motion controller 2 can determine the theoretical seawater density rho at the target depth according to the stored depth density curve 1 。
Then determining theoretical seawater density rho 1 Corresponding lead adjustment V f And according to the advance adjustment amount V f And controlling the residual buoyancy regulating device 3 to regulate the deep sea submersible vehicle to a negative buoyancy state so as to offset the density increase at a large depth. The submerged vehicle generates a submerged longitudinal inclination angle and starts to submerge, and the submerged vehicle can submerge in an accelerated manner by utilizing the negative buoyancy state and the generated submerged longitudinal inclination angle.
Based on the structure of the remaining buoyancy adjusting device 3 provided in the above embodiment, the advance adjustment amount V determined in the advance adjustment process f Namely the oil return amount of the outer oil bag 31 to the inner oil bag 32 according to the advance adjustment amount V f The control of the residual buoyancy adjusting device 3 is according to the advanced adjusting quantity V f The outer oil bag 31 is controlled to return oil to the inner oil bag 32 via an oil passage. Determined theoretical seawater density ρ 1 Corresponding lead adjustment amount
Wherein V is the displacement volume of the deep-sea submersible, rho 0 Sea surface sea water density, V y At target depth for deep-sea vehiclesThe amount of compression.
3. The process is adjusted in real time.
After the advance adjustment process is completed, the real-time adjustment process is started, the propeller 4 is controlled to work, and the tail rudder 5 is controlled in real time to rapidly dive to approach the target depth.
In the real-time adjusting process, in the navigation process of the deep-sea underwater vehicle, the course of the deep-sea underwater vehicle is controlled to move towards the target course through the vertical rudder in the tail rudder 5, and the depth of the deep-sea underwater vehicle is controlled through the horizontal rudder in the tail rudder 5. For the under-actuated control scene that the single tail vane simultaneously controls the depth and the pitch angle of the deep sea underwater vehicle, the control is realized by utilizing a double-layer parameter separation controller: and the motion controller 2 controls the horizontal rudder of the tail rudder by utilizing the double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea underwater vehicle and the real-time longitudinal inclination angle of the deep sea underwater vehicle until the deep sea underwater vehicle submerges to reach the target depth.
The double-layer parameter separation controller uses a pitch angle control ring as an inner ring and a depth control ring as an outer ring to form a double closed-loop control structure. Please refer to fig. 4. In the depth control loop, the target depth H T Difference H from real time depth H (K) at time K e (K)＝H T -H (K) input PID controller generates target pitch angle Z at time K T (K) And input into the pitch angle control loop. Target pitch angle Z at time K in pitch angle control loop T (K) Difference Z of real-time pitch angle Z (K) with time K e (K)＝Z T (K) -Z (K) input into the target rudder angle D at time K when the PD controller generates the rudder T (K) In that respect Target rudder angle D according to K time of horizontal rudder T (K) And controlling the horizontal rudder to move, and similarly executing the operation at the next moment until the target depth is reached, wherein K is a parameter.
Since the rudder angle control range of the tail rudder 5 is limited, as shown in fig. 4, there are a limited number of processes in both the depth control loop and the pitch angle control loop:
in the depth control loop, the pitch angle Z (K) at time K generated by the PID controller is in the pitch range [ Z [ ] min ,Z max ]Then the longitudinal inclination angle Z (K) at the moment K is directly adjustedTarget pitch angle Z as time K T (K) A pitch angle control loop is input. When the PID controller generates the pitch angle Z (K) at the moment K exceeding the pitch angle range [ Z [ ] min ,Z max ]According to the range of pitch angle [ Z ] min ,Z max ]Performing amplitude limiting processing on the longitudinal inclination angle Z (K) at the moment K to obtain a target longitudinal inclination angle Z T (K) Input pitch control rings, i.e.
Similarly, in the pitch control loop, the candidate rudder angle D (K) at the moment K generated by the PD controller is within the rudder angle range [ D ] of the rudder min ,D max ]In the time, the candidate rudder angle D (K) at the time K is directly used as the target rudder angle D at the time K T (K) .1. The When the candidate rudder angle D (K) of the PD controller at the K moment exceeds the rudder angle range [ D of the horizontal rudder [ D ] of the horizontal rudder ] min ,D max ]According to the rudder angle range [ D ] of the horizontal rudder min ,D max ]The target rudder angle D at the K time is obtained after amplitude limiting processing is carried out on the candidate rudder angle D (K) at the K time T (K) That is to say
2. Stabilizing voyage phases at target depths
1. Continuous real-time adjustment process.
When the deep sea underwater vehicle submerges to reach the target depth, the real-time adjusting process is still continuously carried out, namely the motion controller 2 controls the propeller 4 to continuously work, and the double-layer parameter separation controller is utilized to continuously control the tail vane 5 according to the target depth, the real-time depth where the deep sea underwater vehicle is located and the real-time pitch angle of the deep sea underwater vehicle, so that the deep sea underwater vehicle can stably sail at the target depth for fixed depth.
2. Post fine tuning process.
In addition, when the deep sea submersible vehicle submerges to reach the target depth, the motion controller 2 can also execute post fine adjustment to compensate for the adjustment of residual buoyancy in the process of advanced adjustmentThe inaccuracy of the adjustment of the node means 3. The theoretical seawater density rho at the target depth is determined by utilizing a pre-fitted depth density curve in the advance adjustment process 1 The obtained theoretical seawater density rho 1 May be inaccurate, which may result in inaccurate adjustment of the remaining buoyancy adjustment devices 3.
Therefore, the residual buoyancy adjusting device 3 is accurately adjusted again when the deep sea underwater vehicle dives to the target depth, in the process, the motion controller 2 acquires the seawater temperature and the seawater conductivity of the seawater around the deep sea underwater vehicle through the sensor assembly 7, and then the actually measured seawater density rho at the target depth is calculated according to the seawater temperature and the seawater conductivity 1s . The calculation process can be performed according to a formula in the "calculation method for basic characteristics of seawater" of the technical report of marine science organized in the textbooks of the united nations, and details of the embodiment are not repeated.
Obtaining the actually measured seawater density rho at the target depth 1s Then, the actually measured seawater density rho is determined 1s Corresponding actual regulating variable V fs And will adjust the amount V in advance f Controlling the residual buoyancy regulating device to correct the residual buoyancy regulating device according to the actual regulating quantity V fs And controlling the residual buoyancy regulating device, so that the navigation of the deep-sea submersible vehicle is more stable.
Based on the structure of the remaining buoyancy adjusting device 3 provided in the above-described embodiment, the actual adjustment amount V determined in the post fine adjustment process is adjusted similarly to the advance adjustment process fs Namely the oil return amount from the outer oil bag 31 to the inner oil bag 32, and the determined actually-measured seawater density rho 1s Corresponding actual regulating quantity
Will be adjusted by a lead adjustment V f Controlling the residual buoyancy regulating device to correct the residual buoyancy regulating device according to the actual regulating quantity V fs The control of the remaining buoyancy adjusting means comprises: (1) If the actual regulating quantity V fs >V f Then the supplementary oil return V of the outer oil bag 31 to the inner oil bag 32 is controlled fn ＝V fs -V f . (2) If the actual regulating quantity V fs ＝V f Then the remaining buoyancy regulating device 3 is controlled to keep the current state unchanged. (3) If the actual regulating quantity V fs <V f Then the inner oil bag 32 is controlled to supply the oil V to the outer oil bag 31 fm ＝V f -V fs 。
In addition, the measured seawater density rho at the target depth is utilized 1s The depth density curve may also be modified.
3. And (5) a superposition adjusting process.
As described above, under the action of the residual buoyancy adjusting device 3, the deep sea underwater vehicle generates a burial pitch angle, and the burial pitch angle is beneficial to the rapid submergence of the deep sea underwater vehicle in the submerging process of the deep sea underwater vehicle. However, when the deep sea underwater vehicle submerges to reach the target depth, the burial pitch angle affects the navigation stability of the deep sea underwater vehicle, and therefore, when the deep sea underwater vehicle submerges to reach the target depth, the burial pitch angle needs to be balanced through a superposition adjusting process so as to enable navigation to be stable.
Therefore, when the deep-sea submersible vehicle submerges to reach the target depth, the motion controller 2 adjusts the actual adjustment quantity V of the residual buoyancy adjusting device according to the actual adjustment quantity V fs The control posture adjusting device 6 balances and adjusts the embedded longitudinal inclination angle generated by the residual buoyancy adjusting device 3. Based on the structure of the remaining buoyancy adjusting device 3 provided in the above embodiment, the actual adjustment amount V of the remaining buoyancy adjusting device fs The oil return amount of the outer oil bag 31 to the inner oil bag 32 of the deep sea submersible vehicle at the target depth is the same.
The superposition adjustment process is generally performed after the post fine adjustment process, and for example, in fig. 2, if the post fine adjustment process is not performed or the post fine adjustment process keeps the current state of the remaining buoyancy adjusting device 3 unchanged, the actual adjustment amount V of the remaining buoyancy adjusting device is determined fs Is the lead adjustment amount V determined by the lead adjustment process f . If the post fine adjustment process has been carried out and the state of the remaining buoyancy adjusting device 3 is corrected, the actual adjustment quantity V of the remaining buoyancy adjusting device fs After the fact, the fine adjustment process is determined.
Based on the structure of the posture adjustment device 6 provided in the above embodiment, the control of the posture adjustment device 6 by the motion controller includes: controlling the sliding mechanism to drive the sliding block to be relatively flatThe sliding distance from the balance state to the direction close to the stern part of the deep sea underwater vehicle is
Wherein L is f Is the distance between the outer and inner oil pockets, and m is the weight of the slider. V fs The unit of (d) is L.
In the stable navigation stage at the target depth, a post fine adjustment process and superposition adjustment are generally performed once after the deep sea submersible vehicle submerges to reach the target depth. And continuously executing the real-time adjusting process at the stable navigation stage at the whole target depth until the stable navigation time T is reached.
3. Floating up from target depth to sea surface
1. Advance adjustment process
When the deep-sea underwater vehicle sails at the target depth for a stable sailing time T, the deep-sea underwater vehicle starts to float. And the motion controller 2 controls the residual buoyancy adjusting device 3 to restore to the initial state of the deep sea underwater vehicle when the deep sea underwater vehicle is positioned on the sea surface, so that the deep sea underwater vehicle generates a head lifting longitudinal inclination angle and starts to float. Based on the structure of the residual buoyancy adjusting device 3 provided in the above embodiment, the oil in the inner oil bag 32 is controlled to flow out of the outer oil bag 31, and the oil output amount is the total oil return amount from the outer oil bag 31 to the inner oil bag 32, that is, the actual adjustment amount V of the residual buoyancy adjusting device fs Actual regulating quantity V here fs Similar to the process of superposition regulation during the stable sailing phase.
2. Real-time adjustment process
Similar to the submergence stage, after the advance adjusting process is completed, the real-time adjusting process is started, the propeller 4 is kept working, and the tail rudder 5 is controlled in real time to quickly float upwards to approach the sea surface. The process is also beneficial to controlling the tail rudder by using the double-layer parameter separation controller until the deep-sea underwater vehicle floats to the sea surface, only the input depth control ring is not the target depth any more but the sea surface depth is 0, and therefore the tail rudder is controlled by using the double-layer parameter separation controller according to the sea surface depth, the real-time depth of the deep-sea underwater vehicle and the real-time pitch angle of the deep-sea underwater vehicle until the deep-sea underwater vehicle floats to the sea surface. The implementation process is similar to the dive phase, and the description of this embodiment is omitted.
3. Superimposed adjustment process
Similarly, the deep sea underwater vehicle can quickly float up due to the head-lifting pitch angle generated by the residual buoyancy adjusting device 3, but the navigation stability of the deep sea underwater vehicle is influenced when the deep sea underwater vehicle reaches the sea surface. Therefore, when the deep-sea underwater vehicle floats to the sea surface, the motion controller 2 adjusts the actual adjustment quantity V of the residual buoyancy adjusting device 3 fs And controlling the attitude adjusting device to balance the head-lifting longitudinal inclination angle generated by the residual buoyancy adjusting device. Similar to the superposition adjusting process in the stable navigation stage, in the process, the motion controller 2 controls the sliding mechanism to drive the sliding block to slide towards the direction close to the bow part of the deep sea underwater vehicle for the distance of the balanced state
And finally, the propeller 4 can be closed after stabilization, so that the whole movement process of submergence, operation and floating of the deep sea underwater vehicle is completed.
What has been described above is only a preferred embodiment of the present application, and the present application is not limited to the above examples. It is to be understood that other modifications and variations directly derived or suggested to those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being within the scope of the present application.
Claims (10)
1. A deep-sea underwater vehicle for realizing combined motion control is characterized by comprising a motion controller, a residual buoyancy adjusting device arranged at the bow part of a pressure-resistant cabin of the deep-sea underwater vehicle, and a propeller and a tail vane which are arranged at the stern part outside the pressure-resistant cabin; the motion controller is connected with and controls the buoyancy adjusting device, the propeller and the tail rudder;
the method performed by the motion controller comprises:
performing a lead adjustment operation: determining theoretical seawater density ρ at a target depth of the deep-sea submersible 1 Determining the theoretical seawater density rho 1 Corresponding superFront regulating quantity V f And according to said lead adjustment quantity V f Controlling the residual buoyancy regulating device to regulate the deep sea underwater vehicle to a negative buoyancy state, so that the deep sea underwater vehicle generates a burial pitch angle and starts to dive;
after completing the advanced adjusting operation by completing the control of the remaining buoyancy adjusting means, performing a real-time adjusting operation: and controlling the propeller to work, and controlling the tail rudder by using a double-layer parameter separation controller according to the target depth, the real-time depth of the deep-sea underwater vehicle and the real-time pitch angle of the deep-sea underwater vehicle until the deep-sea underwater vehicle submerges to reach the target depth, wherein the double-layer parameter separation controller forms a double closed-loop control structure by using a pitch angle control ring as an inner ring and a depth control ring as an outer ring.
2. The deep-sea submersible as recited in claim 1, wherein the residual buoyancy adjusting means comprises an outer oil bag and an inner oil bag which are arranged in a bow portion of the pressure-resistant tank and connected by an oil passage, the outer oil bag being arranged outside the pressure-resistant tank, the inner oil bag being arranged inside the pressure-resistant tank;
the motion controller determines the theoretical seawater density ρ 1 Corresponding lead adjustment V f And according to said lead adjustment V f The method for controlling the residual buoyancy regulating device comprises the following steps:
determining the theoretical seawater density ρ 1 Corresponding lead adjustment amount
And according to the advanced adjustment quantity V f Controlling the outer oil bag to return oil to the inner oil bag through an oil path, wherein V is the water discharge volume of the deep sea submersible vehicle, rho 0 Sea surface sea water density, V y Is the amount of compression of the deep-sea submersible at the target depth.
3. The deep sea underwater vehicle of claim 1, wherein the tail rudder comprises an upper vertical rudder, a lower vertical rudder and a left horizontal rudder, the motion controller controls the vertical rudder to adjust the course of the deep sea underwater vehicle, and the method for the motion controller to adjust the depth of the deep sea underwater vehicle by using the double-layer parameter separation controller to control the horizontal rudder in the tail rudder comprises the following steps:
in the depth control loop, the difference value of the target depth and the real-time depth is input into a PID controller to generate a target pitch angle and is input into the pitch angle control loop;
in the pitch angle control ring, the difference value of the target pitch angle and the real-time pitch angle is input into a PD controller to generate a target rudder angle of the horizontal rudder;
and controlling the horizontal rudder according to the target rudder angle of the horizontal rudder.
4. The deep-sea submersible according to claim 3, characterized in that, for the double-layer parameter separation controller:
in the depth control loop, when a trim angle generated by a PID controller is within a trim angle range, the trim angle is directly used as the target trim angle and is input into the trim angle control loop; when the longitudinal inclination angle generated by the PID controller exceeds the longitudinal inclination angle range, carrying out amplitude limiting processing on the longitudinal inclination angle according to the longitudinal inclination angle range to obtain a target longitudinal inclination angle, and inputting the target longitudinal inclination angle into the longitudinal inclination angle control ring;
in the pitch angle control loop, when the candidate rudder angle generated by the PD controller is within the rudder angle range of the horizontal rudder, directly taking the candidate rudder angle as the target rudder angle; and when the candidate rudder angle generated by the PD controller exceeds the rudder angle range of the horizontal rudder, carrying out amplitude limiting processing on the candidate rudder angle according to the rudder angle range of the horizontal rudder to obtain the target rudder angle.
5. The deep-sea submersible of claim 1, wherein the method performed by the motion controller further comprises:
and when the deep-sea underwater vehicle submerges to the target depth and sails at the target depth, continuously executing real-time adjustment operation: and keeping the propeller to work continuously, and continuously controlling the tail rudder by using a double-layer parameter separation controller according to the target depth, the real-time depth of the deep-sea underwater vehicle and the real-time pitch angle of the deep-sea underwater vehicle so as to stabilize the deep-sea underwater vehicle to sail at the target depth in a fixed depth.
6. The deep sea submersible according to claim 2 further comprising a sensor assembly disposed outside the pressure resistant cabin and electrically connected to the motion controller, the motion controller further performing fine adjustment operations after the deep sea submersible submerges to the target depth, comprising:
when the deep-sea submersible vehicle submerges to the target depth, collecting the seawater temperature and the seawater conductivity of the seawater around the deep-sea submersible vehicle through the sensor assembly;
calculating the actually measured seawater density rho at the target depth according to the seawater temperature and the seawater conductivity 1s ；
Determining the measured seawater density ρ 1s Corresponding actual regulating variable V fs And will adjust the amount V in accordance with the lead f Controlling the residual buoyancy regulating device to correct according to the actual regulating quantity V fs And controlling the residual buoyancy regulating device.
7. The deep sea submersible of claim 1 further comprising an attitude adjustment device disposed within the pressure resistant compartment, the motion controller being connected to and controlling the attitude adjustment device; when the deep-sea submersible vehicle submerges to the target depth, the motion controller further executes superposition adjustment operation, including:
according to the actual regulating quantity V of the residual buoyancy regulating device fs And controlling the attitude adjusting device to balance and adjust the embedded longitudinal inclination angle generated by the residual buoyancy adjusting device.
8. The deep-sea submersible as recited in claim 7 wherein the attitude adjustment device comprises a slider disposed on a sliding mechanism, the motion controller is connected to and controls the sliding mechanism to drive the slider to slide, and the motion controller performs a superposition adjustment operation comprising:
the sliding mechanism is controlled to drive the sliding block to slide towards the direction close to the stern of the deep sea underwater vehicle relative to the balanced state by the distance
Wherein L is f Is the distance between the outer oil pocket and the inner oil pocket, and m is the weight of the slider.
9. The deep-sea submersible of claim 7, wherein the method performed by the motion controller further comprises:
performing a lead adjustment operation: controlling the residual buoyancy adjusting device to recover to an initial state when the deep sea underwater vehicle is located on the sea surface, so that the deep sea underwater vehicle generates a head lifting pitch angle and starts to float;
after completing the control of the remaining buoyancy adjusting means to complete the advance adjusting operation, performing a real-time adjusting operation: and keeping the propeller working and controlling the tail rudder by using a double-layer parameter separation controller until the deep sea underwater vehicle floats to the sea surface.
10. The deep sea submersible of claim 9, wherein the motion controller further performs a superposition adjustment operation upon arrival of the deep sea submersible at the sea surface, comprising:
according to the actual regulating quantity V of the residual buoyancy regulating device fs And controlling the attitude adjusting device to balance the head-lifting longitudinal inclination angle generated by the residual buoyancy adjusting device.
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