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Underwater vehicle cluster control system and control method thereof

A technology for underwater vehicle and swarm control, which is applied in the direction of control/regulation system, non-electric variable control, height or depth control, etc. Operational requirements and other issues to achieve the effect of improving reliability, ensuring smooth development, and reducing communication distance

Pending Publication Date: 2021-07-09
THE PLA NAVY SUBMARINE INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The existing swarm control system adopts centralized control, and each unit uniformly receives the control commands issued by the control center. However, for the underwater operations of underwater vehicles, the types of different underwater vehicles are the same or different, and the underwater vehicles interact with each other. Cooperate and jointly execute underwater operations. The application conditions are complex, and the traditional swarm control system cannot meet the underwater operation requirements of heterogeneous formations of underwater vehicles.

Method used

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  • Underwater vehicle cluster control system and control method thereof
  • Underwater vehicle cluster control system and control method thereof
  • Underwater vehicle cluster control system and control method thereof

Examples

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Embodiment 1

[0059] A kind of underwater vehicle swarm control system, refer to figure 1 , including shore-based command system 1, formation coordination control system 2 and platform control system 3. The underwater vehicle formation is composed of several formation groups, and each formation group is equipped with an underwater vehicle as the formation leader unit to carry out coordinated control of the formation group's underwater vehicles, and the other underwater vehicles are ordinary Formation members receive the coordinated control of the formation leadership unit and the shore-based command center. The shore-based command system 1 is set in the shore-based control center, the formation coordination control system 2 is set on the formation leadership unit, and the platform control system 3 is set on each underwater vehicle platform. The shore-based command system 1, the formation coordination control system 2 and the platform control system 3 communicate with each other. The shore...

Embodiment 2

[0064] A swarm control method for underwater vehicles, comprising the following method steps: step S1, task assignment; step S2, platform path information generation; step S3, platform motion monitoring; step S4, platform coordinated control.

[0065] Step S1, task assignment. The shore-based command system 1 inputs the task sets performed by the heterogeneous formations, and the shore-based command system 1 generates task information according to the input task sets performed by the heterogeneous formations, and sends the task information to each formation control center 22 . Specifically, the commander inputs the task set performed by the heterogeneous formation through the man-machine interface 11, and the task decision module 12 performs task assignment according to the characteristics of each underwater vehicle. The shore-based communication module 13 sends the generated task information to each formation cooperative control system 2 through the communication satellite sy...

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Abstract

The invention discloses an underwater vehicle cluster control system and a control method thereof, and the key points of the technical scheme are that the system comprises: a shore-based command system which is used for generating task information according to a task set executed by an isomer formation and sending the task information to a formation cooperative control system; a platform control system which is used for collecting motion information of the underwater vehicle and sending the collected motion information to the formation cooperative control system; a formation cooperative control system which is used for generating track information of each underwater vehicle according to the task information, generating platform control feedback information according to the motion information of the underwater vehicles, and sending the track information and the platform control feedback information to the platform control system; the method comprises the steps of S1, task allocation; S2, platform path information is generated; S3, platform motion monitoring; and S4, platform cooperative control is carried out. According to the invention, each underwater vehicle in the formation can be flexibly controlled.

Description

technical field [0001] The invention relates to the technical field of underwater vehicle swarm control, in particular to an underwater vehicle swarm control system and a control method thereof. Background technique [0002] An underwater vehicle is a vehicle that sails underwater, including manned underwater vehicles and unmanned underwater vehicles, which can complete underwater exploration, detection, and even military offensive and defensive tasks. Now that ocean development is becoming more and more important, underwater vehicles are getting more and more attention from various countries, and they play an important role in both civilian and military use. As a long-sequence, long-range autonomous underwater vehicle, underwater glider is one of the most important application methods for formation, networking and collaborative observation. A single underwater glider often cannot meet the mission requirements, and it needs to be realized through a network of underwater gli...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 笪良龙张文清孙芹东邹佳运陈文景王超
Owner THE PLA NAVY SUBMARINE INST