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Underwater vehicle vertical plane navigation attitude optimization control method

An optimized control and submersible technology, applied in attitude control, three-dimensional position/channel control and other directions, can solve problems such as high requirements for submersible parameters, device control and sensor accuracy, inability to achieve attitude adjustment, insufficient adaptability, etc. Reliable performance, simple design, and good scalability

Pending Publication Date: 2022-07-01
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Application Information

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

Method used

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  • Underwater vehicle vertical plane navigation attitude optimization control method
  • Underwater vehicle vertical plane navigation attitude optimization control method
  • Underwater vehicle vertical plane navigation attitude optimization control method

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Embodiment Construction

[0023] The method described in the above technical solution is described below with a simulation example:

[0024] 1. A method for optimizing the navigation attitude of a submersible in the vertical plane. The characteristics of the angle of attack and the rudder angle are affected, and the optimal control algorithm is used to realize the navigation control of zero angle of attack and zero rudder angle; specifically, the net buoyancy can be changed by adjusting the sum of the masses of the buoyancy adjustment devices at the bow and stern, and the net buoyancy is In the vertical direction, in order to balance the change of the force in the vertical direction, the propeller needs to generate a component force in the vertical direction, that is, the angle of attack of the submersible needs to be adjusted. Change the buoyancy moment of the submersible, and then affect the balance pitch moment, and then affect the change of the rudder angle;

[0025] 2. Based on the above principl...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 张鑫于海斌李硕刘健许以军陆云松张吉龙
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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