A method and device for three-channel attitude decoupling control of underwater vehicle

Abstract

The present invention discloses a three-channel attitude decoupling control and device for an underwater vehicle, the method comprising: constructing a dynamic equation of the underwater vehicle; constructing an outer attitude control loop of the underwater vehicle, determining the control law of the LADRC module on each control path; constructing an inner attitude control loop of the underwater vehicle, determining the control law of the LADRC module on each control path; based on the control law of the LADRC module on each control path of the outer attitude control loop and the control law of the LADRC module on each control path of the inner attitude control loop, decoupling the mutual coupling between the pitch, heading and roll channels of the underwater vehicle. The method of the present invention has a small amount of calculation, a fast decoupling speed and a high decoupling accuracy.

Description

Technical Field

[0001] The present invention relates to the field of underwater vehicles, and in particular to a three-channel attitude decoupling control method and device for underwater vehicles. Background Art

[0002] For underwater vehicles with strong nonlinearity, strong coupling, parameter uncertainty and multiple inputs and multiple outputs, the control system design is particularly critical and determines the quality of their navigation. In addition, when navigating in a complex and changeable underwater environment, the vehicle is susceptible to external environmental interference (such as ocean currents), and these disturbances seriously affect the dynamic stability and accuracy of the control system. In addition, under high-speed navigation, the motion coupling of the three channels of pitch, heading and roll and the coupling between the rudders of each control channel cannot be ignored. Summary of the invention

[0003] In view of this, the present invention provides a three-channel attitude decoupling control method and device for an underwater vehicle, which can solve the problem of mutual coupling among the pitch, heading and roll channels of the underwater vehicle.

[0004] In order to solve the above technical problems, the present invention is implemented as follows.

[0005] A three-channel attitude decoupling control method for an underwater vehicle, comprising:

[0006] Step S1: construct the underwater vehicle dynamics equation;

[0007] Step S2: construct an attitude control outer loop of the underwater vehicle; obtain the roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c Inputting the corresponding control paths in the attitude control outer loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0008] Step S3: construct an inner loop of attitude control of the underwater vehicle; obtain the angular velocity ω of the roll channel of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc Inputting the corresponding control paths in the attitude control inner loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0009] Step S4: Based on the control law of the LADRC module on each control path of the attitude control outer loop and the control law of the LADRC module on each control path of the attitude control inner loop, the mutual coupling between the pitch, heading and roll channels of the underwater vehicle is decoupled.

[0010] Preferably, the attitude control outer loop of the underwater vehicle includes a roll channel control path, a yaw channel control path, and a pitch channel control path, each control path has a LADRC module, and the data converted by the LADRC module of each control path are input into the attitude control inner loop.

[0011] Preferably, the attitude control inner loop of the underwater vehicle includes a roll channel control path, a yaw channel control path, and a pitch channel control path, each control path is provided with a LADRC module, data converted by the LADRC module from each control path is obtained, and the data converted by the LADRC module from each control path is input into the underwater vehicle dynamics equation to obtain a mathematical model of the controlled object.

[0012] Preferably, in step S1, the underwater vehicle dynamics equation is:

[0013]

[0014] Among them, ω x ,ω y ,ω z is the angular velocity of roll, heading and pitch, ψ, θ are the roll angle, yaw angle and pitch angle of the underwater vehicle respectively, J xx , J yy , J zz are the moments of inertia in the three directions of roll, heading and pitch, λ 44 is the additional moment of inertia, v x , v y , v z are the x, y, and z velocities in the missile body coordinate system, ρ is the density of the fluid medium, S and L are the maximum cross-sectional area and length of the vehicle, respectively, and x c ,y c , z c are the components of the center of mass coordinates of the spacecraft in the body coordinate system, α is the angle of attack, m and G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r They are the rudder deflection angles of the roll channel, yaw channel and pitch channel respectively; ω x The first derivative with respect to time, v z The first derivative with respect to time, v y The first-order derivative with respect to time, v is the resultant velocity, are the rolling moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the yaw moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the pitch moment coefficients for α and δ respectively. d , δ r , δ e as well as The derivative of .

[0015] Preferably, in step S2, a roll channel control command input signal of the underwater vehicle is obtained. Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c The corresponding control paths in the attitude control outer loop of the underwater vehicle are input respectively to determine the control law of the LADRC module on each control path, including:

[0016] Step S21: Obtaining the roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c ;

[0017] Step S22: Introduce a virtual control variable U into the outer loop of the attitude control, where U=B1δ1

[0018]

[0019] Among them, U1 is the virtual control amount of the outer loop of the roll channel control, U2 is the virtual control amount of the outer loop of the yaw channel control, and U3 is the virtual control amount of the outer loop of the pitch channel control; ω xc ,ω yc And ω zcThe outputs of the roll channel, yaw channel and pitch channel of the underwater vehicle are respectively, and the output of each channel is the expected angular velocity of the roll channel, the expected angular velocity of the yaw channel and the expected angular velocity of the pitch channel. The output of each channel is used as the input of the roll channel, yaw channel and pitch channel of the attitude control inner loop of the underwater vehicle;

[0020] Step S23: ψ c and θ c The state quantity x of each channel in the attitude control outer loop of the underwater vehicle is determined by inputting the corresponding control paths into the attitude control outer loop respectively. i , 1≤i≤3, including:

[0021] The input-output relationship of the underwater vehicle attitude control outer loop is:

[0022]

[0023] Where x is the state quantity of the outer loop of attitude control, is the first-order derivative of x with respect to time, F1 is the total disturbance of the attitude control outer loop;

[0024] Step S24: determining the control law of the LADRC module on each control path based on the output of the attitude control inner loop of the underwater vehicle;

[0025] Step S25: If the mission of the underwater vehicle is completed, the method ends; otherwise, the roll channel control command input signal of the underwater vehicle is obtained from the navigation mission. Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , enter step S21.

[0026] Preferably, the step S3: constructing an attitude control inner loop of the underwater vehicle; obtaining the rolling channel angular velocity ω of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc The corresponding control paths in the attitude control inner loop of the underwater vehicle are input respectively to determine the control law of the LADRC module on each control path, including:

[0027] Step S31: obtaining outputs of various channels of the outer loop of attitude control of the underwater vehicle as inputs of various channels of the inner loop of attitude control of the underwater vehicle;

[0028] Step S32: Introduce a virtual control variable U' into the inner loop of the attitude control, where U'=B2δ2

[0029]

[0030] Among them, U d is the virtual control variable of the inner loop of the roll channel control, U r is the virtual control variable of the inner loop of the yaw channel control, U e It is the virtual control quantity of the inner loop of the pitch channel control;

[0031] Step S33: Input the inputs of each channel of the attitude control inner loop of the underwater vehicle into the corresponding control paths in the attitude control inner loop of the underwater vehicle, and determine the state quantity x' of each channel of the attitude control inner loop. i , 1≤i≤3, including:

[0032] The input-output relationship of the underwater vehicle attitude control outer loop is:

[0033]

[0034] Where x' is the state quantity of the inner loop of attitude control, is the first-order derivative of the state quantity of the inner loop of attitude control, and F2 is the total disturbance of the inner loop of attitude control;

[0035]

[0036] Step S34: determining the control law of the LADRC module on each control path in the attitude control inner loop;

[0037] Step S35: The attitude information of the vehicle is obtained through the inertial measurement device within a control cycle as the input of each channel of the attitude control loop of the underwater vehicle and as the input of the control law of the LADRC module on the corresponding control path in the outer loop of the attitude control of the underwater vehicle.

[0038] The present invention provides a three-channel attitude decoupling control device for an underwater vehicle, the device comprising:

[0039] Equation building module: configured to build the underwater vehicle dynamics equations;

[0040] The first loop setting module is configured to construct an attitude control outer loop of the underwater vehicle; obtain a roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψc and θ c Inputting the corresponding control paths in the attitude control outer loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0041] Second loop setting module: configured to construct an attitude control inner loop of the underwater vehicle; obtain the roll channel angular velocity ω of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc Inputting the corresponding control paths in the attitude control inner loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0042] Decoupling module: configured to decouple the mutual coupling between the pitch, heading and roll channels of the underwater vehicle based on the control law of the LADRC module on each control path of the attitude control outer loop and the control law of the LADRC module on each control path of the attitude control inner loop.

[0043] The present invention provides a system, characterized in that the system comprises:

[0044] A processor, which is used to execute multiple instructions;

[0045] A memory for storing a plurality of instructions;

[0046] The plurality of instructions are used to be stored by the memory and loaded and executed by the processor to implement the method as described above.

[0047] The present invention provides a computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as described above.

[0048] Aiming at the coupling problem between different channels of the nonlinear dynamic model of an underwater vehicle, the present invention designs a three-channel decoupling control method based on linear active disturbance rejection control to solve the coupling problem between the channels.

[0049] It has the following technical effects:

[0050] (1) Aiming at the influence of strong nonlinearity, strong coupling, external interference, and uncertainty of the underwater vehicle's own parameters, the present invention proposes an attitude decoupling control method based on linear anti-disturbance control. The mutual coupling of the control channels of the underwater vehicle and the internal and external interference are taken as the total disturbance, estimated by the extended state observer, and introduced into the feedback controller for compensation, so that the original nonlinear system is converted into a linear system to achieve decoupling control. In addition, a virtual control quantity is introduced to decouple the coupling caused by the rudder. The three-channel attitude decoupling control of the underwater vehicle is completed.

[0051] (2) The present invention has low computational complexity and fast decoupling speed.

[0052] (3) The present invention has high decoupling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A schematic diagram of the flow chart of the three-channel attitude decoupling control method for an underwater vehicle provided by the present invention;

[0054] Figure 2 A schematic diagram of the inner loop of the attitude control of an underwater vehicle based on LADRC provided by the present invention;

[0055] Figure 3 A schematic diagram of the external loop of the underwater vehicle attitude control based on LADRC provided by the present invention;

[0056] Figure 4 This is a schematic structural diagram of the three-channel attitude decoupling control device for an underwater vehicle provided by the present invention. DETAILED DESCRIPTION

[0057] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0058] like Figure 1 As shown, the present invention proposes a three-channel attitude decoupling control method for an underwater vehicle, comprising the following steps:

[0059] Step S1: construct the underwater vehicle dynamics equation;

[0060] Step S2: construct an attitude control outer loop of the underwater vehicle; obtain the roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c Inputting the corresponding control paths in the attitude control outer loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0061] Step S3: construct an inner loop of attitude control of the underwater vehicle; obtain the angular velocity ω of the roll channel of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc Inputting the corresponding control paths in the attitude control inner loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0062] Step S4: Based on the control law of the LADRC module on each control path of the attitude control outer loop and the control law of the LADRC module on each control path of the attitude control inner loop, the mutual coupling between the pitch, heading and roll channels of the underwater vehicle is decoupled.

[0063] In the present invention, there is kinematic coupling among the pitch, heading and roll channels, and there is mutual coupling among the rudder angles of each channel. In practical applications of the present invention, the input information required for the three-channel attitude control includes: pitch angle, heading angle, roll angle, pitch angular velocity, heading angular velocity, and roll angular velocity. These information are brought into the self-disturbance rejection controller and decoupled. Finally, the command signals of the pitch rudder deflection angle, heading rudder deflection angle, and roll rudder deflection angle are calculated and output to realize the three-channel decoupling control of the underwater vehicle.

[0064] Furthermore, the attitude control outer loop of the underwater vehicle includes a roll channel control path, a yaw channel control path, and a pitch channel control path, each control path has a LADRC module, and the data converted by the LADRC module of each control path are input into the attitude control inner loop.

[0065] Furthermore, the attitude control inner loop of the underwater vehicle includes a roll channel control path, a yaw channel control path, and a pitch channel control path, each control path is provided with a LADRC module, data converted by the LADRC module of each control path is obtained, and the data converted by the LADRC module of each control path is input into the underwater vehicle dynamics equation to obtain a mathematical model of the controlled object.

[0066] In step S1, the underwater vehicle dynamics equation is:

[0067]

[0068] Among them, ω x ,ω y ,ω z is the angular velocity of roll, heading and pitch, ψ, θ are the roll angle, yaw angle and pitch angle of the underwater vehicle respectively, J xx , J yy , J zz are the moments of inertia in the three directions of roll, heading and pitch, λ 44 is the additional moment of inertia, v x , v y , v z are the x, y, and z velocities in the missile body coordinate system, ρ is the density of the fluid medium, S and L are the maximum cross-sectional area and length of the vehicle, respectively, and x c ,y c , z c are the components of the center of mass coordinates of the spacecraft in the body coordinate system, α is the angle of attack, m and G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r They are the rudder deflection angles of the roll channel, yaw channel and pitch channel respectively; ω x The first derivative with respect to time, v z The first derivative with respect to time, v y The first-order derivative with respect to time, v is the resultant velocity, are the rolling moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the yaw moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the pitch moment coefficients for α and δ respectively. d , δ r , δ e as well as The derivative of .

[0069]

[0070]

[0071]

[0072] Among them, λ 55 ,λ 66 is the additional moment of inertia, and β is the sideslip angle.

[0073] The step S2 is to obtain a roll channel control command input signal of the underwater vehicle. Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c The corresponding control paths in the attitude control outer loop of the underwater vehicle are input respectively to determine the control law of the LADRC module on each control path, including:

[0074] Step S21: Obtaining the roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c ;

[0075] Step S22: Introduce a virtual control variable U into the outer loop of the attitude control, where U=B1δ1

[0076]

[0077] Among them, U1 is the virtual control amount of the outer loop of the roll channel control, U2 is the virtual control amount of the outer loop of the yaw channel control, and U3 is the virtual control amount of the outer loop of the pitch channel control; ω xc ,ω yc And ω zc They are the outputs of the roll channel, yaw channel and pitch channel of the underwater vehicle, and the outputs of each channel are the expected angular velocity of the roll channel, the expected angular velocity of the yaw channel and the expected angular velocity of the pitch channel. The outputs of each channel are used as the inputs of the roll channel, yaw channel and pitch channel of the attitude control inner loop of the underwater vehicle.

[0078] In the present invention, the attitude control command is solved by the attitude control outer loop to obtain the command signal of the attitude control inner loop, and then the attitude control inner loop outputs the rudder deflection angle of each channel. The attitude control outer loop is used to eliminate motion coupling, and the attitude control inner loop is used to eliminate the deflection angle coupling. The components of the angular velocity of the underwater vehicle around the buoyancy center in the body coordinate system are ω x ,ω y ,ω z , and its Euler angle transformation rate is Therefore, the conversion relationship between the underwater vehicle attitude angle and angular velocity can be obtained as follows:

[0079]

[0080]

[0081]

[0082] Step S23: ψ c and θ c The state quantity x of each channel in the attitude control outer loop of the underwater vehicle is determined by inputting the corresponding control paths into the attitude control outer loop respectively. i , 1≤i≤3, including:

[0083] The input-output relationship of the underwater vehicle attitude control outer loop is:

[0084]

[0085] Where x is the state quantity of the outer loop of attitude control, is the first-order derivative of x with respect to time, and F1 is the total disturbance of the outer loop of attitude control.

[0086]

[0087] f1=f2=f3=0

[0088] Step S24: Based on the output of the attitude control inner loop of the underwater vehicle, the control law of the LADRC module on each control path is determined, including:

[0089]

[0090]

[0091] u 0i =k pi (r i -y i )

[0092] i=1,2,3

[0093] In the formula, r i is the target value of each control channel, The estimated value of 1, e oi 、z 1i 、l、 z 2i , β 01i , β 02i 、u 0i 、z 2i 、u 0i , k pi ,y i All are intermediate variables;

[0094] β 01i =2ω 0i ,β02i =ω 0i 2 ,ω ci =ω 0i / 2,k pi =ω ci

[0095] Among them, ω 0i and ω ci are the attitude control outer loop observer bandwidth and controller bandwidth respectively.

[0096] In the present invention, the controlled object of each control channel of the attitude control outer loop is a first-order system, and a second-order ESO is designed in this embodiment to estimate its state quantity. Therefore, the control law of the LADRC module on each control path as described above is determined.

[0097] Step S25: If the mission of the underwater vehicle is completed, the method ends; otherwise, the roll channel control command input signal of the underwater vehicle is obtained from the navigation mission. Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , enter step S21.

[0098] The step S3: constructing an attitude control inner loop of the underwater vehicle; obtaining the rolling channel angular velocity ω of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc The corresponding control paths in the attitude control inner loop of the underwater vehicle are input respectively to determine the control law of the LADRC module on each control path, including:

[0099] Step S31: obtaining outputs of various channels of the attitude control outer loop of the underwater vehicle as inputs of various channels of the attitude control inner loop of the underwater vehicle;

[0100] Step S32: Introduce a virtual control variable U' into the inner loop of the attitude control, where U'=B2δ2

[0101]

[0102] Among them, U d is the virtual control variable of the inner loop of the roll channel control, U r is the virtual control variable of the inner loop of the yaw channel control, U e It is the virtual control quantity of the inner loop of the pitch channel control;

[0103] Step S33: Input the inputs of each channel of the attitude control inner loop of the underwater vehicle into the corresponding control paths in the attitude control inner loop of the underwater vehicle, and determine the state quantity x' of each channel of the attitude control inner loop. i , 1≤i≤3, including:

[0104] The input-output relationship of the underwater vehicle attitude control outer loop is:

[0105]

[0106] Where x' is the state quantity of the inner loop of attitude control, is the first-order derivative of the state quantity of the inner loop of attitude control, and F2 is the total disturbance of the inner loop of attitude control;

[0107]

[0108] Step S34: Determine the control law of the LADRC module on each control path in the attitude control inner loop, including:

[0109]

[0110]

[0111] u 0j =k pj (r j -y j )

[0112] j=4,5,6

[0113] In the formula, r j is the target value of each control channel, for The estimated value of oj 、z 1j , z 2j , β 01j , β 02j 、u 0j 、z 2j 、u 0j , k pj ,y j is an intermediate variable;

[0114] β 01i =2ω 0i ,β 02i =ω 0i 2 ,ω ci =ω 0i / 2,k pi =ωci

[0115] Among them, ω 0j and ω cj are the attitude control inner loop observer bandwidth and controller bandwidth respectively.

[0116] In the present invention, the controlled object of each control channel in the attitude control inner loop is a first-order system, and a second-order ESO is designed in this embodiment to estimate its state quantity. Therefore, the control law of the LADRC module on each control path as described above is determined.

[0117] Step S35: The attitude information of the vehicle is obtained through the inertial measurement device within a control cycle as the input of each channel of the attitude control loop of the underwater vehicle and as the input of the control law of the LADRC module on the corresponding control path in the outer loop of the attitude control of the underwater vehicle.

[0118] The three-channel attitude control system of the underwater vehicle based on LADRC of the present invention needs to set 6 control parameters.

[0119] Furthermore, the present invention also includes feeding back the output of each channel of the attitude control outer loop to the attitude control inner loop, and feeding back the output of each channel of the attitude control inner loop to the steering gear, which generates a rudder deflection angle to control the aircraft attitude.

[0120] In the present invention, the structure of the three-channel decoupling control system of the underwater vehicle is as follows: Figure 3 The desired angular velocity is obtained from the attitude control outer loop, and the rudder deflection angle of the underwater vehicle can be obtained through the decoupling controller. The state quantities of each channel of the underwater vehicle are obtained by solving the nonlinear dynamic equations of the underwater vehicle, and finally these state quantities are fed back to each control channel to complete the closed-loop control.

[0121] The coupling amount of the pitch channel, yaw channel and roll channel of the underwater vehicle is taken as the total disturbance, which is estimated by the extended state observer and introduced into the feedback controller for compensation, so that the original nonlinear system is transformed into a linear system and the decoupling between the channels is completed.

[0122] The present invention also provides a three-channel attitude decoupling control device for an underwater vehicle, such as Figure 4 As shown, the device comprises:

[0123] Equation building module: configured to build the underwater vehicle dynamics equations;

[0124] The first loop setting module is configured to construct an attitude control outer loop of the underwater vehicle; obtain a roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ cand pitch channel control command input signal θ c , and ψ c and θ c Inputting the corresponding control paths in the attitude control outer loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0125] Second loop setting module: configured to construct an attitude control inner loop of the underwater vehicle; obtain the roll channel angular velocity ω of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc Inputting the corresponding control paths in the attitude control inner loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path;

[0126] Decoupling module: configured to decouple the mutual coupling between the pitch, heading and roll channels of the underwater vehicle based on the control law of the LADRC module on each control path of the attitude control outer loop and the control law of the LADRC module on each control path of the attitude control inner loop.

[0127] The above specific embodiments only describe the design principle of the present invention. The shapes and names of the components in the description may be different and are not limited. Therefore, those skilled in the art in the field of the present invention may modify or replace the technical solutions recorded in the above embodiments; and these modifications and replacements do not deviate from the creative purpose and technical solutions of the present invention and should all fall within the protection scope of the present invention.

Claims

1. A three-channel attitude decoupling control method for an underwater vehicle, characterized in that: The steps include: Step S1: construct the underwater vehicle dynamics equation; Step S2: construct an attitude control outer loop of the underwater vehicle; obtain a roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c Inputting the corresponding control paths in the attitude control outer loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path; Step S3: construct an inner loop of attitude control of the underwater vehicle; obtain the angular velocity ω of the roll channel of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc Input the corresponding control paths in the attitude control inner loop of the underwater vehicle respectively, and determine the control law of the LADRC module on each control path; Step S4: Decoupling the mutual coupling between the pitch, heading and roll channels of the underwater vehicle based on the control law of the LADRC module on each control path of the attitude control outer loop and the control law of the LADRC module on each control path of the attitude control inner loop; In step S1, the underwater vehicle dynamics equation is: Among them, ω x ,ω y ,ω z is the angular velocity of roll, heading and pitch, ψ, θ are the roll angle, yaw angle and pitch angle of the underwater vehicle respectively, J xx , J yy , J zz are the moments of inertia in the three directions of roll, heading and pitch, λ 44 is the additional moment of inertia, v x , v y , v z are the x, y, and z velocities in the missile body coordinate system, ρ is the density of the fluid medium, S and L are the maximum cross-sectional area and length of the vehicle, respectively, and x c ,y c , z c are the components of the center of mass coordinates of the spacecraft in the missile body coordinate system, α is the angle of attack, m and G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r They are the rudder deflection angles of the roll channel, yaw channel and pitch channel respectively; ω x The first derivative with respect to time, v z The first derivative with respect to time, v y The first-order derivative with respect to time, v is the resultant velocity, are the rolling moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the yaw moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the pitch moment coefficients for α and δ respectively. d , δ r , δ e as well as The derivative of The step S3: constructing an attitude control inner loop of the underwater vehicle; obtaining the rolling channel angular velocity ω of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc The corresponding control paths in the attitude control inner loop of the underwater vehicle are input respectively to determine the control law of the LADRC module on each control path, including: Step S31: obtaining outputs of various channels of the attitude control outer loop of the underwater vehicle as inputs of various channels of the attitude control inner loop of the underwater vehicle; Step S32: Introduce a virtual control variable U' into the inner loop of the attitude control, where U'=B2δ2 Among them, U d is the virtual control variable of the inner loop of the roll channel control, U r is the virtual control variable of the inner loop of the yaw channel control, U e It is the virtual control quantity of the inner loop of the pitch channel control; Step S33: Input the inputs of each channel of the attitude control inner loop of the underwater vehicle into the corresponding control paths in the attitude control inner loop of the underwater vehicle, and determine the state quantity x' of each channel of the attitude control inner loop. i , 1≤i≤3, including: The input-output relationship of the underwater vehicle attitude control outer loop is: Where x' is the state quantity of the inner loop of attitude control, is the first-order derivative of the state quantity of the inner loop of attitude control, and F2 is the total disturbance of the inner loop of attitude control; Step S34: determining the control law of the LADRC module on each control path in the attitude control inner loop; Step S35: The attitude information of the vehicle is obtained through the inertial measurement device within a control cycle as the input of each channel of the attitude control loop of the underwater vehicle and as the input of the control law of the LADRC module on the corresponding control path in the outer loop of the attitude control of the underwater vehicle.

2. The method according to claim 1, characterized in that The attitude control outer loop of the underwater vehicle includes a roll channel control path, a yaw channel control path, and a pitch channel control path. Each control path has a LADRC module, and the data converted by the LADRC module in each control path is input into the attitude control inner loop.

3. The method according to claim 1, characterized in that The attitude control inner loop of the underwater vehicle includes a roll channel control path, a yaw channel control path, and a pitch channel control path. Each control path is provided with a LADRC module. The data converted by the LADRC module of each control path is obtained, and the data converted by the LADRC module of each control path is input into the underwater vehicle dynamics equation to obtain the mathematical model of the controlled object.

4. The method according to claim 3, characterized in that: The step S2 is to obtain a roll channel control command input signal of the underwater vehicle. Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c The corresponding control paths in the attitude control outer loop of the underwater vehicle are input respectively to determine the control law of the LADRC module on each control path, including: Step S21: Obtaining the roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c ; Step S22: Introduce a virtual control variable U into the outer loop of the attitude control, where U=B1δ1 Among them, U1 is the virtual control amount of the outer loop of the roll channel control, U2 is the virtual control amount of the outer loop of the yaw channel control, and U3 is the virtual control amount of the outer loop of the pitch channel control; ω xc ,ω yc And ω zc are the outputs of the roll channel, yaw channel and pitch channel of the underwater vehicle respectively, and the output of each channel is the expected angular velocity of the roll channel, the expected angular velocity of the yaw channel and the expected angular velocity of the pitch channel; the output of each channel is used as the input of the roll channel, yaw channel and pitch channel of the attitude control inner loop of the underwater vehicle respectively; Step S23: ψ c and θ c The state quantity x of each channel in the attitude control outer loop of the underwater vehicle is determined by inputting the corresponding control paths into the attitude control outer loop respectively. i , 1≤i≤3, including: The input-output relationship of the underwater vehicle attitude control outer loop is: Where x is the state quantity of the attitude control outer loop, is the first-order derivative of x with respect to time, F1 is the total disturbance of the attitude control outer loop; Step S24: Determine the control law of the LADRC module on each control path based on the output of the attitude control inner loop of the underwater vehicle; Step S25: If the mission of the underwater vehicle is completed, the method ends; otherwise, the roll channel control command input signal of the underwater vehicle is obtained from the navigation mission. Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , enter step S21.

5. A three-channel attitude decoupling control device for an underwater vehicle, characterized in that: include: Equation building module: configured to build the underwater vehicle dynamics equations; The first loop setting module is configured to construct an attitude control outer loop of the underwater vehicle; obtain a roll channel control command input signal of the underwater vehicle Yaw channel control command input signal ψ c and pitch channel control command input signal θ c , and ψ c and θ c Inputting the corresponding control paths in the attitude control outer loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path; Second loop setting module: configured to construct an attitude control inner loop of the underwater vehicle; obtain the roll channel angular velocity ω of the underwater vehicle xc 、Yaw channel angular velocity ω yc and the pitch channel angular velocity ω zc , and ω xc ,ω yc and ω zc Inputting the corresponding control paths in the attitude control inner loop of the underwater vehicle respectively, and determining the control law of the LADRC module on each control path; A decoupling module: configured to decouple mutual coupling between the pitch, heading, and roll channels of the underwater vehicle based on a control law of a LADRC module on each control path of an attitude control outer loop and a control law of a LADRC module on each control path of an attitude control inner loop; The dynamic equation of the underwater vehicle is: Among them, ω x ,ω y ,ω z is the angular velocity of roll, heading and pitch, ψ, θ are the roll angle, yaw angle and pitch angle of the underwater vehicle respectively, J xx , J yy , J zz are the moments of inertia in the three directions of roll, heading and pitch, λ 44 is the additional moment of inertia, v x , v y , v z are the x, y, and z velocities in the missile body coordinate system, ρ is the density of the fluid medium, S and L are the maximum cross-sectional area and length of the vehicle, respectively, and x c ,y c , z c are the components of the center of mass coordinates of the spacecraft in the missile body coordinate system, α is the angle of attack, m and G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r They are the rudder deflection angles of the roll channel, yaw channel and pitch channel respectively; ω x The first derivative with respect to time, v z The first derivative with respect to time, v y The first-order derivative with respect to time, v is the resultant velocity, are the rolling moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the yaw moment coefficients for β and δ respectively. d , δ r , δ e , as well as The derivative of are the pitch moment coefficients for α and δ respectively. d , δ r , δ e as well as The derivative of The second loop setting module includes: The first submodule: obtaining the output of each channel of the attitude control outer loop of the underwater vehicle as the input of each channel of the attitude control inner loop of the underwater vehicle; The second submodule: introduces a virtual control variable U' into the inner loop of the attitude control, where U'=B2δ2 Among them, U d is the virtual control variable of the inner loop of the roll channel control, U r is the virtual control variable of the inner loop of the yaw channel control, U e It is the virtual control quantity of the inner loop of the pitch channel control; The third submodule: inputting the input of each channel of the attitude control inner loop of the underwater vehicle into the corresponding control paths in the attitude control inner loop of the underwater vehicle, and determining the state quantity x' of each channel of the attitude control inner loop i , 1≤i≤3, including: The input-output relationship of the underwater vehicle attitude control outer loop is: Where x' is the state quantity of the inner loop of attitude control, is the first-order derivative of the state quantity of the inner loop of attitude control, and F2 is the total disturbance of the inner loop of attitude control; The fourth submodule: determines the control law of the LADRC module on each control path in the attitude control inner loop; The fifth submodule: obtains the attitude information of the vehicle through the inertial measurement device within a control cycle as the input of each channel of the attitude control loop of the underwater vehicle, and as the input of the control law of the LADRC module on the corresponding control path in the attitude control outer loop of the underwater vehicle.

6. A computer-readable storage medium, wherein a plurality of instructions are stored in the storage medium; the plurality of instructions are used for a processor to load and execute the method as claimed in any one of claims 1 to 4.

7. An electronic device, characterized in that: The electronic device comprises: A processor, which is used to execute multiple instructions; A memory for storing a plurality of instructions; The plurality of instructions are used to be stored in the memory and loaded and executed by the processor according to any one of claims 1 to 4.

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