A self-propelled underwater vehicle simulation device and motion control method thereof

Abstract

The present invention relates to the technical field of underwater intelligent instruments, and in particular to a self-propelled underwater vehicle simulation device and a motion control method thereof. It includes a sound module, a power module, a control module, a propeller and a steering gear, which are electrically connected in sequence; the control module is composed of a main control board, a propeller drive board, a steering gear control board, and a load dumping relay board. The single-chip microcomputer of the main control board has a serial port and an independent PWM output port. The PWM signal is output to the propeller drive board. The input of the propeller drive board has two signals, one is a PWM signal, and the other is a high and low level IO pin signal; the sound module is composed of a piezoelectric ceramic transducer, a signal conditioning module, a sound module controller, and a feedback control module; the power module is composed of a lithium iron phosphate battery pack, a water immersion detection device, an intermediate relay, a voltage conversion and voltage stabilization module, and is connected in sequence. The underwater vehicle simulation device of the present invention can be used for anti-submarine training personnel in a simulated real combat environment.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater intelligent instruments, and in particular to a self-propelled underwater vehicle simulation device and a motion control method thereof. Background Art

[0002] The self-propelled vehicle simulator and its carrier are a type of underwater vehicle, but due to its special functionality and application field, its internal structure design, configuration and control method are completely different. Combined with the analysis of the patents currently disclosed at home and abroad, it can be seen that there are no relevant patents and technical standards to comprehensively analyze and describe this technical field. Lockheed Martin's product MK39 EMATT anti-submarine training target is an underwater vehicle used for naval force training for anti-submarine operations in ocean waters. It is about three to five feet long and about five inches in diameter. It can be programmed on site. Its on-site programming system includes a running geometry generator and a portable interface module, etc., which are controlled through operating procedures. Summary of the invention

[0003] In order to solve the problem mentioned in the background technology that the current anti-submarine training lacks a self-propelled simulation training device that can simulate a real combat environment, the present invention demonstrates a self-propelled underwater vehicle simulation device and a motion control method thereof.

[0004] In order to achieve the above purpose, the following technical solutions are provided:

[0005] A self-propelled underwater vehicle simulation device comprises a sound module, a power module, a control module, a propeller and a steering gear, which are electrically connected in sequence;

[0006] The control module consists of a main control board, a thruster drive board, a steering gear control board, and a load dump relay board. The single-chip microcomputer of the main control board has a serial port and an independent PWM output port, which can generate a PWM signal. The PWM signal is output to the thruster drive board. The thruster drive board has two input signals, one is a PWM signal, and the other is a high and low level IO pin signal, which is connected to the IO pin of the main control board; when the IO pin signal is high, the propeller is driven to rotate at a given PWM duty cycle speed, and when the IO pin signal is low, the propeller stops rotating; the steering gear control board The single-chip microcomputer is connected to the main control board through a 232 serial port, receives the steering gear angle command sent by the main control board, decodes the command and generates a PWM signal, thereby driving the steering gear to rotate and realizing the steering gear angle control; the main control board is installed with a main control program, which uses a predefined program control mode to control the motion of the simulation device, and uses a time delay subroutine to realize the presetting and control of the propeller motor speed and the steering gear angle, so that the propeller motor and the steering gear are propulsed and controlled according to the predefined program flow, realizing the presetting of the underwater motion trajectory of the simulation device. The main control board controls the attraction or disconnection of the relay on the dumping relay board through an IO signal. After the system runs for 20 minutes and the task is completed, the main control board outputs a high level, disconnecting the normally closed contact of the relay on the dumping relay board, and the electromagnet is powered off at this time, and the electromagnet throws down the attracted external weight. At this time, because the buoyancy is greater than the gravity, the simulation device will float to the water surface under the action of buoyancy. The control program of the main control board of the device is provided with an automatic program erasing function. After unloading, the control program will erase the internal program to prevent the control program from being obtained by others.

[0007] The sound module consists of a piezoelectric ceramic transducer, a signal conditioning module, a sound module controller, and a feedback control module. The piezoelectric ceramic transducer is installed at the bottom of the sound module through threads to realize the reception and transmission of sound signals. The piezoelectric ceramic transducer converts the sound pressure signal into a weak electrical signal and inputs it into the signal conditioning module. The signal conditioning module filters and conditions the received electrical signal and outputs it to the sound module controller; the NOR gate module in the signal conditioning module is connected to the interrupt input port of the sound module controller, and its output signal triggers the external interrupt of the sound module controller. After the interrupt is triggered, the interrupt service program of the sound module controller is entered. The sound module controller completes the verification, decoding, judgment and generation of the feedback pulse signal of the output signal of the signal conditioning module. The control software of the sound module controller is composed of a main control program and an interrupt service subroutine, and its program control process is as follows: the main control program of the sound module controller first initializes the port register of the main control chip, initializes the timer and the external interrupt vector register, then opens the interrupt and enters the sleep mode, waiting for the external interrupt; if an interrupt occurs, it enters the interrupt service program, completes the signal sampling in the interrupt service program, and performs frequency analysis of the sampled signal after the sampling is completed. If it is a detection sonar signal emitted by the other party, a certain number of pulses are sent through the PWM port of the main control chip. After the pulse signal is sent out through the timer 2 port of the sound module controller, it is amplified and shaped, and the automatic gain adjustment module performs signal conditioning and gain adjustment, and generates a high-voltage signal through the step-up transformer to drive the transducer piezoelectric ceramic to emit a vibration sound signal;

[0008] The power module is composed of a lithium iron phosphate battery pack, a water immersion detection device, an intermediate relay, a voltage conversion and voltage stabilization module, which are connected in sequence; the water immersion detection device includes a water immersion detection controller and a detection line connected to the water immersion detection controller. The detection line is a two-wire system, connected to the input end of the water immersion detection controller. The controller determines the resistance value of the detection line through a program according to the resistance of the detection line. If the resistance is less than 2M ohms, it is determined that the detection line has been immersed in water. The water immersion detection controller is a normally open relay, and its output end is connected in series with an intermediate relay. The normally open contact of the intermediate relay is connected in series with a lithium iron phosphate battery pack, which is connected to the voltage conversion and voltage stabilization module to power the system sound module and control module. The specific process is: if the water immersion device detects that the detection line is immersed in water, the water immersion detection controller delays for 10 seconds, waits for the simulator device to float stably on the water surface, and closes the normally open relay of the water immersion detection controller, and then drives the normally open contact of the intermediate relay to close. At this time, the power module outputs voltage, otherwise it does not output voltage. The function of the intermediate relay is to control the on / off connection between the lithium iron phosphate battery pack and the voltage conversion and voltage regulation module, while the voltage conversion and voltage regulation module provides a stable voltage for other related modules of the simulation device.

[0009] Furthermore, the main control board chip is a Mega128 single-chip microcomputer.

[0010] Furthermore, the servo control board chip is a Mega64 single-chip microcomputer.

[0011] Furthermore, the model of the lithium iron phosphate battery pack is 24VDC20AH.

[0012] Furthermore, a control method for a self-propelled underwater vehicle simulation device includes the following steps: step 1, a program in a main control board pre-programs and downloads a speed command of a propeller, an angle command of a steering gear and the time at which the command takes effect to the main control board of the self-propelled underwater vehicle simulator in a pre-defined manner, and controls the propeller and the steering gear through the control program in the main control board so that the device maneuvers according to a predetermined program;

[0013] Step 2: After the device is put into water, the device uses the water immersion detection module to detect whether it has entered water. If water is detected, it waits for 10 seconds;

[0014] Step 3: After the posture of the device is stable, the control program controls the output relay of the water immersion detection module to close, thereby driving the normally open contact of the intermediate relay to close, connecting the lithium iron phosphate battery pack and the power conversion and voltage stabilization module. At this time, the power module outputs 24VDC;

[0015] Step 4. After the system is powered on, the sound module and the control module start working. Here, the flood detection controller, the relay board and the electromagnet of the dumping module are directly connected to the lithium iron phosphate battery pack and are not controlled by the water inlet detection module. The control board of the sound module collects the output signal of the piezoelectric ceramic transducer and performs frequency analysis on the collected sound signal. If the collected sound signal is a detection sonar signal, the sound module controller sends a series of pulse signals simulating the acoustic characteristics of a submarine through the piezoelectric ceramic transducer. If the collected signal is not a detection sonar signal, the pulse generation and transmission is not performed, and the control board continues to collect the sound signal in a cycle. The control module is mainly responsible for realizing the speed control of the thruster motor and the angle control of the steering gear according to the predefined motion mode;

[0016] Step 5. To realize the diving movement of the simulator, after the control module starts working, the servo controller controls the servo to rotate counterclockwise to +45°. At the same time, the main control board outputs the first group of modulated PWM signals to control the propeller to rotate at a low speed with a delay of 2 seconds.

[0017] Step 6: The servo controller controls the servo to rotate counterclockwise to 0°. At this time, the rudder angle returns to zero. The main control board outputs the second group of modulated PWM signals to control the thruster to rotate at high speed. The device performs a diving motion, which lasts for 100 seconds.

[0018] Step 7: The servo controller controls the servo to rotate counterclockwise to -30°. At the same time, the main control board outputs the first group of modulated PWM signals to control the propeller to rotate at a low speed, so that the device dives to the predetermined depth and then delays for 2 seconds.

[0019] Step 8: The servo controller controls the servo to rotate counterclockwise to 0°. At this time, the rudder angle returns to zero. At the same time, the main control board outputs the second group of modulated PWM signals, and the device performs horizontal high-speed motion. The horizontal high-speed motion lasts for 1100 seconds.

[0020] Step 9: After the training task is completed, the main control board controls the dumping relay board of the dumping mechanism to cut off the power to the electromagnet, and then dump the heavy object; after that, the program in the main control board is automatically erased, and the device floats to the surface and waits for manual recovery. Beneficial effects of the present invention:

[0021] The present invention designs a self-propelled underwater vehicle simulation device and a motion control method thereof, which can be used by anti-submarine training personnel for training in a simulated real combat environment in an anti-submarine training device. The cost of a single device is low and its use can save a large amount of training expenses incurred by using a real submarine, avoid casualties, and effectively solve the problem of "no targets to hit" underwater in anti-submarine training. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a block diagram of the connection of various modules of a self-propelled underwater vehicle simulation device;

[0023] Figure 2 A block diagram of the connection of a power module for a self-propelled underwater vehicle simulator;

[0024] Figure 3 A block diagram of the connection of a sound module of a self-propelled underwater vehicle simulator;

[0025] Figure 4 A control module connection block diagram of a self-propelled underwater vehicle simulation device;

[0026] Figure 5 The present invention is a workflow diagram of a self-propelled underwater vehicle simulation device. DETAILED DESCRIPTION

[0027] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0028] like Figure 1-5A self-propelled underwater vehicle simulation device and a motion control method thereof, the device is in the shape of a torpedo, the outer shell is made of PVC material, and the interior includes a control module, a sound module, a power module, a propeller and a steering gear, which are connected in sequence. The power module controls the power supply and power failure of other modules of the device through the setting of the immersion module; the sound module simulates the echo characteristics of a certain type of submarine and emits a group of pulse trains to simulate the acoustic characteristics of a certain submarine; the control module controls the rotation of the propeller and the steering gear, and controls the underwater motion trajectory and motion posture of the device through a preset program.

[0029] The control module consists of a main control board, a thruster drive board, a steering gear control board, and a load dump relay board. The main control board chip is a Mega128 single-chip microcomputer, which has a serial port and an independent PWM output port, and can generate a PWM signal. The PWM signal is output to the thruster drive board. The thruster drive board has two input signals, one is a PWM signal, and the other is a high and low level IO pin signal, which is connected to the IO pin of the main control board; when the IO pin signal is high, the thruster is driven to rotate at a given PWM duty cycle speed, and when the IO pin signal is low, the thruster stops rotating. The steering gear control board chip is a Mega64 single-chip microcomputer, which is connected to the main control board through a 232 serial port, receives the steering gear angle command sent by the main control board, decodes the command and generates a PWM signal, thereby driving the steering gear to rotate and realizing the steering gear angle control. The main control board is installed with the main control program. By using the time delay subroutine, the propeller motor speed and the steering gear angle are pre-set, so that the propeller motor and the steering gear can be propulsed and angle controlled according to the predefined program, thereby realizing the control of the underwater motion trajectory and motion posture of the device. The main control board controls the attraction of the relay on the dumping relay board through the IO signal; the system runs for 20 minutes. After the task is completed, the main control board outputs a high level through the IO port to disconnect the normally closed contact of the relay on the dumping relay board. At this time, the electromagnet is powered off, and the electromagnet will throw down the external weight attracted, and the simulation device will float up under the action of buoyancy. At the same time, the control program of the main control board of the device is set with an automatic program erasing function. After dumping, the internal program will be automatically erased to prevent the program from being obtained by others.

[0030] The sound module is composed of a piezoelectric ceramic transducer, a signal conditioning module, a sound module controller, and a feedback control module. The piezoelectric ceramic transducer is installed on the bottom of the self-propelled underwater vehicle simulation device through a thread. The piezoelectric ceramic transducer is used to receive and transmit the sound signal, and the sound signal is converted into a weak electrical signal. The collected weak electrical signal enters the sound module controller after passing through the signal conditioning module. The sound module controller completes the verification, decoding, judgment and generation of the feedback signal after conditioning. The NOR gate module in the signal conditioning module is connected to the interrupt input port of the sound module controller, and its output signal triggers the external interrupt of the sound module controller; after the interrupt is triggered, the interrupt service program of the sound module controller is entered. The control software of the sound module controller consists of a main control program and an interrupt service subroutine. The program control flow is as follows: the main program of the sound module controller first initializes the port of the main control chip, initializes the timer and the external interrupt vector register, then opens the interrupt and enters the sleep mode, waiting for the external interrupt. If an interrupt occurs, the interrupt service program is entered, and the signal sampling is completed in the interrupt service program. After the sampling is completed, the frequency analysis of the sampled signal is performed through the sound module controller. If it is a detection sonar signal emitted by the other party, a group of pulses are sent through the PWM port. After the pulse signal is sent out through the timer 2 port of the main control chip of the sound module controller, it is amplified and shaped, and the automatic gain adjustment module performs signal conditioning and gain adjustment, and a high-voltage signal is generated through the transformer to drive the transducer piezoelectric ceramic, and the piezoelectric ceramic probe sends out a vibration sound signal.

[0031] The power module consists of a lithium iron phosphate battery pack, a water immersion detection device, an intermediate relay, a voltage conversion and voltage stabilization module, which are connected in sequence. The water immersion monitoring module monitors whether the device has entered water. If it detects that it has entered water, the water immersion controller delays for 10 seconds, waits for the posture of the simulation device to be relatively stable, and controls the normally open relay to close. At this time, the system power supply outputs 24VDC to power the control module and the sound module.

[0032] According to the power consumption of the system, the model of the lithium iron phosphate battery pack is determined to be 24VDC20AH. Through the water immersion detection line installed in the bottom groove outside the shell of the simulation device, it is detected whether the simulation device has entered the water, and the intermediate relay connected to the water immersion detection device controls the on and off of the power supply of the power module, wherein the water immersion detection module is directly powered by the lithium iron phosphate battery pack. The device includes a water immersion controller and a detection line connected to the controller. The detection line is a two-wire system, connected to the input end of the water immersion detection controller. The controller determines the resistance value of the detection line through the program according to the resistance of the detection line. If the resistance is less than 2M ohms, it is determined that the detection line has been immersed in water. The water immersion detection controller is a normally open relay, and its output end is connected in series with an intermediate relay. The normally open contact of the intermediate relay is connected in series with the lithium iron phosphate battery pack, which is connected to the voltage conversion and voltage stabilization module to power other modules. If the water detector detects that the detection line is submerged in water, the water detection controller will delay the control program for 10 seconds, wait for the device to float stably on the water surface, close its normally open relay, and then drive the intermediate relay to pull in. At this time, the normally open contact of the intermediate relay is closed, and the power module outputs 24VDC voltage; otherwise, no voltage is output. The function of the intermediate relay is to control the connection between the lithium iron phosphate battery pack and the voltage conversion and voltage stabilization module, and the voltage conversion and voltage stabilization module provides stable voltage for each module of the simulation device.

[0033] The working process is as follows: step 1, the program in the main control board of the control module pre-programs and downloads the speed command of the propeller, the angle command of the steering gear and the effective time thereof to the main control board of the device in a pre-defined manner, so as to control the propeller and the steering gear so that the device can maneuver according to the predetermined program;

[0034] Step 2: After the device is put into water, the device uses the water immersion detection module to detect whether it has entered water. If water is detected, it will delay for 10 seconds;

[0035] Step 3: After the posture of the device is stable, close the output relay of the water immersion detection module, so that the normally open contact of the intermediate relay is closed, and the battery pack power supply and the voltage regulator module are connected, and the power supply module outputs a stable 24VDC;

[0036] Step 4: The sound module and control module start working. Here, the flood detection controller, the relay board of the load dumping module and the electromagnet are directly connected to the lithium iron phosphate battery pack and are not controlled by the water ingress detection module. The control board of the sound module collects the signal of the piezoelectric ceramic and performs frequency analysis on the detected sound signal. If the collected signal is a detection sonar signal, the controller will send a series of pulse signals simulating the acoustic characteristics of a submarine through the piezoelectric ceramic transducer. If the collected signal is not a detection sonar signal, the signal will not be sent back, and the control board will continue to collect the sound signal in a cycle.

[0037] Step 5: The control module is mainly responsible for controlling the propeller motor speed and the steering gear angle. After the control module starts working, the steering gear controller controls the steering gear to rotate counterclockwise to +45 degrees. At the same time, the main control board outputs the first set of PWM signals to control the propeller to rotate at a low speed with a delay of 2 seconds.

[0038] Step 6: The servo controller controls the servo to rotate counterclockwise to 0 degrees, and the main control board outputs the second set of PWM signals to control the thruster to rotate at high speed, and the device dives after a delay of 100 seconds;

[0039] Step 7: The servo controller controls the servo to rotate counterclockwise to -30 degrees. At the same time, the main control board outputs the first set of PWM signals, and the propeller drive board controls the propeller to rotate at a low speed. The device dives to the predetermined depth and then delays for 2 seconds.

[0040] Step 8: The servo controller controls the servo to rotate counterclockwise to 0 degrees. At the same time, the servo controller controls the servo to rotate counterclockwise to 0 degrees. The main control board outputs the second set of PWM signals, and the device performs high-speed horizontal motion after a delay of 1100 seconds.

[0041] Step 9. After the training task is completed, the main control board controls the electromagnet of the dumping mechanism to cut off the power. After the heavy object is dumped, the main control board program is automatically erased, and the device floats up and waits for recovery.

[0042] The above description is only the best embodiment of the present invention and is not any form of limitation to the present invention. Any technician familiar with the art can make many possible changes and modifications to the present invention using the methods and contents disclosed above without departing from the scope of the technical solution of the present invention, which all fall within the scope of protection of the claims.

Claims

1. A self-propelled underwater vehicle simulation device, characterized in that: It includes a sound module, a power module, a control module, a propeller and a steering gear, and they are electrically connected in sequence; The control module consists of a main control board, a thruster drive board, a steering gear control board, and a load dump relay board. The single-chip microcomputer of the main control board has one serial port and an independent PWM output port, which can generate a PWM signal. The PWM signal is output to the thruster drive board. The thruster drive board has two input signals, one is a PWM signal, and the other is a high and low level IO pin signal, which is connected to the IO pin of the main control board; when the IO pin signal is high, the propeller is driven to rotate at a given PWM duty cycle speed, and when the IO pin signal is low, the propeller stops rotating; the single-chip microcomputer of the steering gear control board is connected to the main control board through a 232 serial port, receives the steering gear angle command sent by the main control board, decodes the command and generates a PWM signal, thereby driving the rudder The motor rotates to realize the angle control of the steering gear; the main control board is installed with a main control program, which realizes the pre-setting of the propeller motor speed and the steering gear angle by using the time delay subroutine, so that the propeller motor and the steering gear perform propulsion and angle control according to the predefined program, thereby realizing the pre-setting of the underwater motion trajectory of the device. The main control board controls the attraction of the relay on the dumping relay board through the IO signal. After the system runs for 20 minutes and the task is completed, the main control board outputs a high level, so that the normally closed contact of the relay on the relay board is disconnected, the magnet is powered off, and the electromagnet throws down the attracted external weight, and the device will automatically float; the main control board control program of the device is provided with a program automatic erasing function; after dumping, the internal program is automatically erased to prevent the program from being obtained by others; The sound module is composed of a piezoelectric ceramic transducer, a signal conditioning module, a sound module controller, and a feedback control module; the piezoelectric ceramic transducer is arranged at the bottom of the sound module, and the active sound module uses the piezoelectric ceramic transducer for transmission and reception; when receiving, the piezoelectric ceramic transducer converts the sound pressure signal into a weak electrical signal, and the received electrical signal passes through the signal conditioning module and enters the sound module controller; the NOR gate module in the signal conditioning module is connected to the interrupt input port of the sound module controller, and its output signal triggers the external interrupt of the sound module controller; after the interrupt is triggered, the interrupt service program of the sound module controller is entered; The sound module controller completes the verification, decoding, judgment and generation of the return signal of the signal conditioning module output signal, and its control software is composed of a main control program and an interrupt service subroutine; the software control process is as follows: the main control program of the sound module controller first initializes the port, initializes the timer and the external interrupt vector register, then opens the interrupt and enters the sleep mode, waiting for the external interrupt; if an interrupt occurs, it enters the interrupt service program, and completes the signal sampling in the interrupt service program. After the sampling is completed, the frequency analysis of the sampled signal is performed through the sound module controller. If it is a detection sonar signal emitted by the other party, a certain number of pulses are sent through the PWM port. After the pulse signal is sent through the timer 2 port of the sound module controller, it is amplified and shaped, and the automatic gain adjustment module performs signal conditioning and gain adjustment, and generates a high-voltage signal through the transformer to drive the transducer piezoelectric ceramic, and the probe of the piezoelectric ceramic transducer sends a vibration signal; The power module is composed of a lithium iron phosphate battery pack, a water immersion detection device, an intermediate relay, a voltage conversion and voltage stabilization module, and they are connected in sequence; the water immersion detection device includes a water immersion detection controller and a detection line connected to the water immersion detection controller. The detection line is a two-wire system and is connected to the input end of the water immersion detection controller. The controller determines the resistance value of the detection line through a program according to the resistance of the detection line. If the resistance is less than 2M ohms, it is determined that the detection line is flooded; the water immersion detection controller is a normally open relay, and its output end is connected in series with an intermediate relay. The normally open contact of the intermediate relay is connected in series with the lithium iron phosphate battery pack. It is connected to the voltage conversion and voltage stabilization module to supply power to other circuit boards. If the water immersion device detects that the detection line is immersed in water, the water immersion detection controller will delay for 10 seconds, waiting for the water immersion detection device to float stably on the water surface, and then close its normally open relay, and then drive the intermediate relay to energize. At this time, the normally open contact of the intermediate relay is closed, and the power module outputs voltage, otherwise no voltage is output; here, the intermediate relay has the function of controlling the on and off connection between the lithium iron phosphate battery pack and the voltage conversion and voltage stabilization module. The voltage output of the voltage conversion and voltage stabilization module provides a stable voltage for each module of the simulator system.

2. A self-propelled underwater vehicle simulation device according to claim 1, characterized in that: The main control board chip is Mega128 microcontroller.

3. A self-propelled underwater vehicle simulation device according to claim 1, characterized in that: The servo control board chip is Mega64 microcontroller.

4. A self-propelled underwater vehicle simulation device according to claim 1, characterized in that: The model of the lithium iron phosphate battery pack is 24VDC20AH.

5. A self-propelled underwater vehicle simulation device according to any one of claims 1 to 4, characterized in that: The control method includes the following steps: Step 1: The program in the main control board pre-programs and downloads the speed command of the propeller, the angle command of the steering gear and the effective time to the main control board of the self-propelled underwater vehicle simulator in a pre-defined manner, and controls the propeller and the steering gear through the control program in the main control board to make the device maneuver according to the predetermined program; Step 2: After the device is put into water, the device uses the water immersion detection module to detect whether it has entered water. If water is detected, it waits for 10 seconds; Step 3: After the posture of the device is stable, the control program controls the output relay of the water immersion detection module to close, thereby driving the normally open contact of the intermediate relay to close, connecting the lithium iron phosphate battery pack and the power conversion and voltage stabilization module. At this time, the power module outputs 24VDC; Step 4. After the system is powered on, the sound module and the control module start working. Here, the flood detection controller, the relay board and the electromagnet of the dumping module are directly connected to the lithium iron phosphate battery pack and are not controlled by the water inlet detection module. The control board of the sound module collects the output signal of the piezoelectric ceramic transducer and performs frequency analysis on the collected sound signal. If the collected sound signal is a detection sonar signal, the sound module controller sends a series of pulse signals simulating the acoustic characteristics of a submarine through the piezoelectric ceramic transducer. If the collected signal is not a detection sonar signal, the pulse generation and transmission is not performed, and the control board continues to collect the sound signal in a cycle. The control module is mainly responsible for realizing the speed control of the thruster motor and the angle control of the steering gear according to the predefined motion mode; Step 5. To realize the diving movement of the simulator, after the control module starts working, the servo controller controls the servo to rotate counterclockwise to +45°. At the same time, the main control board outputs the first group of modulated PWM signals to control the propeller to rotate at a low speed with a delay of 2 seconds. Step 6: The servo controller controls the servo to rotate counterclockwise to 0°. At this time, the rudder angle returns to zero. The main control board outputs the second group of modulated PWM signals to control the thruster to rotate at high speed. The device performs a diving motion, which lasts for 100 seconds. Step 7: The servo controller controls the servo to rotate counterclockwise to -30°. At the same time, the main control board outputs the first group of modulated PWM signals to control the propeller to rotate at a low speed, so that the device dives to the predetermined depth and then delays for 2 seconds. Step 8: The servo controller controls the servo to rotate counterclockwise to 0°. At this time, the rudder angle returns to zero. At the same time, the main control board outputs the second group of modulated PWM signals, and the device performs horizontal high-speed motion. The horizontal high-speed motion lasts for 1100 seconds. Step 9. After the training task is completed, the main control board controls the dumping relay board of the dumping mechanism to cut off the power to the electromagnet, and then dump the heavy object; after that, the program in the main control board is automatically erased, and the device floats to the surface and waits for manual recovery.

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