Underwater vehicle vertical plane navigation attitude optimization control method

Abstract

The invention relates to a vertical plane navigation attitude optimization control method for an underwater vehicle. An execution mechanism, a sensing device, a vertical plane controller and an attitude optimizer are included. The executing mechanism and the sensing device are composed of a plurality of buoyancy adjusting devices and bow and stern rudders which are arranged on the bow and the stern of the underwater vehicle. And the vertical plane controller controls each bow and stern rudder through cascade control to realize pitch angle and depth/height control. The attitude optimizer is composed of a zero-rudder-angle controller, a zero-attack-angle controller and a buoyancy adjusting instruction distributor, the zero-attack-angle controller and the zero-rudder-angle controller take an attack angle value and a rudder angle weighted value as inputs respectively to calculate the sum of mass and the difference of mass of a bow buoyancy adjusting device and a stern buoyancy adjusting device, and the buoyancy adjusting instruction distributor takes minimization of mass variation as a target. And calculating the sum of the masses output by the controller and the optimal distribution of the mass difference to each buoyancy adjusting mass. Based on the buoyancy adjusting device and the optimization control algorithm, zero-attack-angle and zero-rudder-angle sailing of the underwater vehicle is achieved, sailing resistance is reduced, and the voyage is increased.

Description

technical field [0001] The invention relates to the field of underwater robot control, in particular to a control method for long-range submersibles, in particular to a navigation attitude optimization control method of the submersible. Background technique [0002] In recent years, countries around the world have paid more and more attention to the exploration, development and utilization of marine resources, and gradually developed to the deep sea. As an important tool and carrier for exploring the ocean, submersibles are also developing towards long voyages and large depths. The energy-saving drag reduction technology of submersibles is an important means to increase the voyage. Among them, the attitude of the submersible during steady navigation has a great influence on the resistance, especially The existence of the angle of attack and the rudder angle in steady state will lead to increased energy consumption and shortened range. When the submersible sails at different...

AI Technical Summary

Problems solved by technology

In summary, optimizing the attitude of the submersible and reducing the angle of attack and rudder angle of the submersible during steady-state navigation is one of the key technologies to reduce energy consumption and improve the voyage. Methods such as seawater density and estimated buoyancy to adjust the buoyancy adjustment device have high requirements on the parameters of the submersible, device control and sensor accuracy, and are not adaptable enough to achieve optimal attitude adjustment. Therefore, the navigation attitude optimization control algorithm based on the buoyancy adjustment device There are still deficiencies

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