Amphibious vehicle attitude adjustment device and control method

Abstract

The application discloses an amphibious vehicle posture adjusting device and a control method, and belongs to the technical field of amphibious vehicles. The device adopts a symmetrical and installed pod type propeller mechanism at the head of the vehicle to provide main propelling force for vehicle posture adjustment, and is assisted by a tail vector water jet propeller and a retractable wave protection plate mechanism, and a cooperative adjustment method including heave and draft depth, trim control and roll control is constructed accordingly. Based on real-time posture data of the vehicle body provided by sensors and gyroscopes in the vehicle, a PID controller is used to control the thrust and direction of the thrust provided by the pod type propeller to the vehicle. The three work together to actively adjust the navigation parameters quickly and adaptively without affecting the high-speed navigation of the vehicle, that is, the quick control and cooperative adjustment of the pod type propeller, the vector propeller and the retractable wave protection plate are realized, so that the real-time posture adjustment of the amphibious vehicle is realized when the navigation posture is unstable, and the adaptability and safety of the high-speed amphibious vehicle in complex sea conditions are improved.

Description

TECHNICAL FIELD

[0001] The application relates to an amphibious vehicle posture adjusting device and a control method, relates to an amphibious vehicle posture adjusting device and a control method based on a front-end installation of a hanging cabin type propeller and the use of a vector water jet propeller at the tail, and belongs to the technical field of amphibious vehicles. BACKGROUND

[0002] At present, many countries are actively developing and manufacturing amphibious vehicles, also simply referred to as amphibious vehicles, which combine the dual performance of cars and ships and are special vehicles that can travel on land like cars and sail on water like ships. The existing amphibious vehicles have poor wave adaptability and unstable posture when sailing at high speed on the water surface, and may have phenomena such as excessive draft causing excessive sailing resistance, excessive trim or roll causing vehicle overturning and sinking, which will affect the high speed and safety of vehicle sailing, and the vehicle body posture is passively adjusted according to the water surface sailing conditions. The existing amphibious vehicles only have the ability to sail in water surface environment and do not have the ability to adjust the posture in real time according to the changes of environment and posture, which limits the sailing speed and application scenarios of the amphibious vehicles. When the amphibious vehicle needs to make a quick floating or sail in a harsh water surface environment, the existing amphibious vehicle cannot complete the specific task at high speed and stably due to the lack of self posture adjusting ability. SUMMARY

[0003] In order to improve the complex sea condition adaptability and high speed sailing safety of high speed amphibious vehicles and solve the problems of limited trim adjusting ability and lack of roll adjusting ability of the existing amphibious vehicles, the main purpose of the application is to provide an amphibious vehicle posture adjusting device and a control method. The adjusting device is mainly realized based on the front-end hanging cabin type propeller, the tail vector propeller and the retractable wave protection plate of the amphibious vehicle, and the closed loop control method combined with the environment and posture sensing and the PID active control regulator based on the sailing posture feedback, so that the amphibious vehicle can realize rapid and effective posture adjustment when the sailing posture is unstable, and the complex sea condition adaptability and high speed sailing safety of high speed amphibious vehicles are improved.

[0004] The purpose of the application is realized by the following technical scheme:

[0005] The amphibious vehicle posture adjusting device disclosed by the application comprises a front-end hanging cabin type propeller mechanism, a retractable wave protection plate mechanism and a tail vector propeller mechanism. It also relies on the sensors and gyroscopes installed inside the amphibious vehicle. The closed loop control method combined with the environment and posture sensing and the PID active control regulator based on the sailing posture feedback are used to realize rapid and effective posture adjustment of the amphibious vehicle when the sailing posture is unstable, and improve the complex sea condition adaptability and high speed sailing safety of high speed amphibious vehicles.

[0006] The sensors and the gyroscope are used to monitor the navigation parameters of the amphibious vehicle in real time, and if the parameters exceed the safety threshold and do not meet the safety navigation requirements, the above-mentioned amphibious vehicle attitude adjusting device is used to adjust the navigation attitude of the amphibious vehicle according to the real-time environmental changes and attitude changes in the current motion state, so that the high-speed safe navigation is realized. The monitoring quantity of the sensor includes the navigation speed, the external flow field wave height, the vehicle trim angle and the roll angle, and the vehicle draft depth. The attitude adjustment includes the vehicle trim angle adjustment, the roll angle adjustment and the draft depth adjustment.

[0007] According to the required thrust size of the attitude adjustment and the hydrodynamic shape of the amphibious vehicle, and in order to ensure the balance of the vehicle stress, the pod type propeller mechanism is symmetrically arranged at the head of the amphibious vehicle. Each group of the pod type propeller mechanism includes a built-in driving motor module, a propeller module and a horizontal rotation module. The two groups of pod type propeller mechanisms are symmetrically distributed, the horizontal rotation mechanism is fixedly connected to the head of the vehicle body, the propeller module and the horizontal rotation mechanism are connected through the shaft to form a rotating pair, and the propeller module and the horizontal rotation mechanism are connected in the shaft connection relationship, which is used to realize 360° rotation and apply thrust to the vehicle body by using the reaction force of the water flow impact. The left and right pod type propellers work together to realize the propelling effect of different thrust and angle. Different thrust is used to realize the adjustment when the vehicle appears trim and roll at the same time, different angle is used to realize the adjustment when the vehicle roll is too large, the angle and the rotation speed are adjusted according to the real-time vehicle body attitude, and the direction and size of the thrust applied to the vehicle body are changed. The front pod propeller is used to effectively solve the problems of vehicle trim and roll. The pod type propeller mechanism is used to provide the required thrust for attitude adjustment at the front of the vehicle, so that the tail propeller stably provides forward driving force, and the rapid adjustment of the attitude is realized without affecting the high-speed navigation.

[0008] The vector water jet propeller is arranged at the tail of the vehicle body and includes a propeller motor, a reverse water bucket and a water jet propeller. The water jet propeller is arranged at the bottom of the vehicle tail and is provided with a vector jet port and a water inlet. The water jet propeller is coaxially connected with the propeller motor; the vector jet port and the reverse water bucket are connected through the shaft to form a rotating pair; and the vector jet port is controlled by the motor to change the propelling direction. The above-mentioned mechanisms all include two groups, and in order to ensure the balance of the power, the vector water jet propellers are symmetrically distributed on the left and right sides. The vector water jet propeller is mainly used to provide the forward driving force of the amphibious vehicle, and at the same time, the adjusting force is provided at the tail during the vehicle attitude adjustment.

[0009] The cooperative adjustment method of the amphibious vehicle posture adjustment device disclosed by the application is as follows: the telescopic wave plate mechanism is used to adjust the draft of the vehicle, the greater the degree of lowering of the wave plate, the greater the dynamic lift provided by the vehicle, and the vehicle body can be lifted by increasing the degree of lowering of the wave plate when the draft of the vehicle is too deep; the front-mounted pod propeller provides the main thrust for posture adjustment, the characteristics of different thrust sizes and directions of the two side pod propellers are used to realize the adjustment of the vehicle's trim, roll and draft; the tail vector propeller provides the forward driving force of the vehicle, and adjusts the propelling direction through the vector jet, and cooperates with the front-mounted pod propeller to realize the adjustment of the vehicle's trim, roll and draft. The three work cooperatively to realize the rapid adjustment of the vehicle's sailing posture under high-speed sailing, and the specific adjustment method is as follows:

[0010] 1. Heave and draft depth control: when the amphibious vehicle sails with too deep draft, the sailing resistance increases, the surrounding flow field is disturbed, a large amount of waves is generated, the waves have a great influence on the vehicle body posture, therefore, when the draft of the vehicle is deep, the wave plate is further lowered to increase the dynamic lift of the vehicle, the tail vector propeller rotates downward to increase the thrust, and provides upward component force without affecting the required forward thrust, at the same time, the front pod propeller sprays water downward to provide upward force to the vehicle body, and the four propellers jointly act to realize the lifting of the vehicle body and reduce the draft of the vehicle.

[0011] 2. Trim control: when the amphibious vehicle sails, the trim phenomenon occurs, a small amount of stern trim can make the propeller of the vehicle have a large immersion depth, which is beneficial to improving the propelling capacity. However, too large stern trim can cause the vehicle to overturn, and too large bow trim can cause the vehicle to sink, which seriously threatens the safety of the vehicle sailing, therefore, when the vehicle has too large trim, the trim needs to be reduced to ensure the safety. If the vehicle has bow trim exceeding the critical value, the front pod propeller of the vehicle sprays water downward to exert upward force on the vehicle to make the vehicle "lift the head" and reduce the bow trim angle. Conversely, if the stern trim and bow trim exceed the critical value, the front pod propeller of the vehicle sprays water upward to exert downward force on the vehicle to make the vehicle "lower the head" and reduce the stern trim angle.

[0012] 3. Roll control: the amphibious vehicle appears roll phenomenon due to the influence of wave adjustment, the roll phenomenon has an adverse effect on the sailing and steering of the vehicle, and needs to be avoided as much as possible. If the vehicle appears "left high and right low" (relative to the sailing direction) phenomenon when sailing, the left side pod propeller sprays water upward and the right side propeller sprays water downward to jointly adjust the vehicle to keep a horizontal posture. Conversely, if the vehicle appears "left low and right high" (relative to the sailing direction) phenomenon when sailing, the left side pod propeller sprays water downward and the right side propeller sprays water upward.

[0013] The application further discloses an amphibious vehicle posture adjustment control method for controlling the amphibious vehicle posture adjustment device, and the method comprises the following steps:

[0014] S1, the amphibious vehicle is provided with a water depth sensor for obtaining real-time draft data of the vehicle, a wave height sensor for obtaining real-time wave height around the vehicle, a speed sensor for monitoring the speed of the vehicle in real time, and a gyroscope for obtaining real-time navigation parameters of the vehicle including the trim angle and the roll angle. According to the sensor and gyroscope data, it is determined whether the attitude of the amphibious vehicle during navigation meets the safety navigation requirement and whether there is an abnormal driving attitude, including excessive trim, excessive roll and excessive draft. The sensor is used to transmit the real-time speed of the amphibious vehicle and the navigation attitude to the system, and a PID active control regulator based on the navigation attitude feedback is used to quickly estimate the attitude, and the control equation of the amphibious vehicle is used to control the propeller.

[0015] S2, if the attitude of the amphibious vehicle is good and the attitude monitoring data does not exceed the critical value, the tail vector propeller of the vehicle operates normally to provide thrust for the vehicle navigation, and the front pod propeller of the vehicle is in a stopped state. The attitude monitoring data includes the trim angle and the roll angle.

[0016] S3, if the navigation attitude of the amphibious vehicle needs to be adjusted, the tail vector propeller and the front pod propeller are in a working state at the same time. The tail vector propeller provides thrust for the vehicle forward movement while changing the water jet direction to adjust the trim and draft of the vehicle as needed, and the front pod propeller adjusts the attitude of the vehicle body by using its 360° rotation characteristic.

[0017] S4, according to the above steps to judge the attitude of the vehicle, and according to the attitude adjustment device of the amphibious vehicle and the coordinated adjustment method, the PID active control regulator based on the navigation attitude feedback is used to realize the real-time adjustment and control of the navigation attitude of the amphibious vehicle.

[0018] Further, the control equation of the amphibious vehicle in S4 is:

[0019]

[0020] In the above formula, m is the mass of the amphibious vehicle, I xx , I yy , I zz are the moments of inertia around the x, y and z axes, respectively, and the subscripts H and P represent the body force and the propeller thrust, respectively. X, Y and Z are the surge, sway and heave forces, respectively, and K, M and N are the roll, pitch and yaw moments, respectively. u, v and w are linear velocities, and are linear accelerations, p, q and r are Euler angles, and are Euler angle accelerations. In the formula, the coordinate system is the vehicle motion coordinate system, and the positive direction of the X axis is the forward direction of the vehicle.

[0021] Further, according to the vehicle body posture and sensor data, the propeller thrust required by the vehicle body in the posture adjustment process is obtained, the propeller speed is obtained according to the equation, and the propeller is operated at the target speed, specifically, the propeller thrust and torque are:

[0022]

[0023]

[0024] X P =P*cos theta

[0025] Z P =P*sin theta

[0026] In the above formula, n is the speed, D P is the propeller diameter, p is the liquid density, B P is the distance between the two propellers. Theta is the angle between the propeller thrust angle and the horizontal plane.

[0027] Advantages

[0028] 1. The amphibious vehicle posture adjustment device disclosed by the application adopts a pod type propeller mechanism, which is symmetrically installed at the head of the vehicle, provides the main propelling force for the vehicle posture adjustment, and is assisted by a tail vector water jet propeller and a retractable wave protection plate mechanism. The three work together to realize the real-time and rapid adjustment of the navigation parameters such as draft, trim and roll without affecting the high-speed navigation of the vehicle.

[0029] 2. The amphibious vehicle posture control method disclosed by the application is based on the real-time posture data of the vehicle body provided by the sensors and gyroscopes in the vehicle, and controls the thrust and direction of the thrust provided by the pod type propeller through the PID controller. The pod type propeller, the vector propeller and the retractable wave protection plate are quickly controlled and cooperatively adjusted, and the real-time posture adjustment of the amphibious vehicle during navigation in water is realized.

[0030] 3. The amphibious vehicle posture adjustment device and control method disclosed by the application selects the layout of the amphibious vehicle posture adjustment device on the amphibious vehicle, and combines the required thrust size of the amphibious vehicle posture adjustment, the hydrodynamic shape of the amphibious vehicle and the driving condition to construct a cooperative adjustment method. The cooperative adjustment method can actively adjust the heave and draft depth, trim control and roll control, and can improve the posture adaptive active adjustment ability of the amphibious vehicle, improve the stability of the amphibious vehicle during high-speed navigation in water, and save power energy. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 The figure a is the main view of the vehicle, the figure b is the rear view, and the figure c is the top view;

[0032] Figure 2 The figure is a schematic diagram of the coordinate system of the amphibious vehicle control equation;

[0033] Figure 3 The figure is a schematic diagram of the attitude control process of the amphibious vehicle;

[0034] Wherein: 1 - front support rod, 2 - push rod support, 3 - upper electric push rod, 4 - lower electric push rod, 5 - vehicle body, 6 - tail fin plate, 7 - wheel, 8 - pod propeller, 9 - lower section of wave plate, 10 - upper section of wave plate, 11 - water jet propeller, 12 - water inlet, 13 - reverse water bucket, 14 - vector jet, 15 - horizontal rotation module, 16 - propeller module. DETAILED DESCRIPTION

[0035] The amphibious vehicle attitude adjusting device comprises a front pod propeller mechanism, a tail vector propulsion system and a telescopic wave plate mechanism, both of which are controlled by motors, and work cooperatively according to real-time data of sensors and gyroscopes in the vehicle to realize real-time adjustment of the attitude of the amphibious vehicle.

[0036] The pod propeller mechanism is arranged at the head of the amphibious vehicle and comprises two groups symmetrically distributed on the left and right sides, the propeller module 16 and the horizontal rotation module 15 are linked by a rotating shaft to form a rotating pair, and the propeller module 16 and the horizontal rotation mechanism 15 are in axial connection to realize 360° rotation. The pod propellers 8 on the left and right sides can realize different rotating speeds and angles of the propelling effect, and the angle and rotating speed can be adjusted according to the real-time attitude of the vehicle body to change the direction and size of the propelling force applied to the vehicle body. The water jet propulsion system 11 is arranged below the tail of the vehicle body, and the water jet propulsion system is coaxially connected with the propulsion motor; the vector jet 14 and the reverse water bucket 13 are connected by a rotating shaft to form a rotating pair. The above-mentioned mechanisms each comprise two groups symmetrically distributed on the left and right sides. The water jet propulsion system can adjust the water jet direction according to the attitude of the vehicle body to realize functions such as lifting the vehicle body on the basis of ensuring the forward driving force.

[0037] The amphibious vehicle attitude control method comprises the following steps:

[0038] S1, a water depth sensor is arranged in the amphibious vehicle to obtain real-time draft data of the vehicle, a wave height sensor is arranged to obtain real-time wave height around the vehicle, a speed sensor is arranged to monitor the speed of the vehicle in real time, and a gyroscope is arranged to obtain real-time navigation parameters such as trim and roll of the vehicle. According to the sensor and gyroscope data, it is judged whether the attitude of the amphibious vehicle during navigation meets the safety navigation requirement, whether there is a problem such as excessive trim, excessive roll or excessive draft. Among them, the sensor can transmit the real-time speed and navigation attitude of the amphibious vehicle to the control system, a PID active control regulator based on the navigation attitude feedback quickly estimates the attitude, and the working state of the propeller is controlled in combination with the amphibious vehicle control equation.

[0039] S2, if the amphibious vehicle posture is good, the vehicle tail vectoring propeller is in normal operation, providing thrust for vehicle navigation, and the vehicle front pod propeller is in a stop operation state.

[0040] S3, if the amphibious vehicle navigation posture needs to be adjusted, the tail vectoring propeller and the front pod propeller are in working state at the same time, the tail vectoring propeller provides thrust for vehicle forward movement while changing the water jet direction to adjust the vehicle trim and draft as needed, and the front pod propeller adjusts the vehicle body posture by using its 360° rotation characteristics.

[0041] S4, according to the sensor and gyroscope data, the required propeller thrust size in attitude control is solved according to the control equation:

[0042]

[0043] In the formula, m is the mass of the amphibious vehicle, I xx , I yy , I zz are the moments of inertia around the x, y, z axes, and the subscripts H and P represent the body force and the propeller force, respectively. X, Y, Z, K, M, and N are the longitudinal, lateral, and vertical forces and the roll, pitch, and yaw moments, respectively. u, v, and w are linear velocities, and are linear accelerations, p, q, and r are Euler angles, and are Euler angle accelerations. In the formula, the coordinate system reference is shown in the attached Figure 2 .

[0044] S5, according to the propeller thrust formula, the required rotation speed and angle of the propeller are obtained:

[0045]

[0046]

[0047] X P = P cos θ

[0048] Z P = P sin θ

[0049] In the above formula, n is the rotation speed, D P is the propeller diameter, ρ is the liquid density, B P is the distance between the two propellers. θ is the angle between the propeller thrust angle and the horizontal plane.

[0050] S6, according to the real-time data of the sensor and the gyroscope, it is judged whether the vehicle navigation posture is in a safe range and whether each parameter exceeds a critical value, and if so, the amphibious vehicle navigation posture is adjusted according to the control equation and the adjustment law in S4 and S5.

[0051] S61, heave and draft depth adjustment: when the vehicle draft is deep, the wave plates 9 and 10 are further lowered under the control of the electric push rods 3 and 4, the dynamic lift acting on the vehicle during navigation is increased, the tail vectoring propeller vectoring nozzle 14 is appropriately rotated downward to increase the thrust, and an upward component force is provided without affecting the required thrust for forward movement. At the same time, the front-end pod propeller 8 sprays water downward to provide an upward force to the vehicle body, and the four propellers and wave plates jointly act to realize the lifting of the vehicle body and reduce the draft depth of the vehicle.

[0052] S62, trim adjustment: when the vehicle trim exceeds the critical value, the trim needs to be reduced to ensure safety. If the bow trim exceeds the critical value, the front-end pod propeller 8 sprays water downward, and the tail propeller vectoring nozzle 14 is slightly upward, and the two jointly act on the vehicle to exert a positive torque in the Y-axis direction, so that the vehicle "lifts its head" and reduces the bow trim angle. Conversely, if the stern trim exceeds the critical value, the front-end pod propeller 8 sprays water upward, and the tail propeller vectoring nozzle 14 is slightly downward, and the two jointly act on the vehicle to exert a negative torque in the Y-axis direction, so that the vehicle "lowers its head" and reduces the stern trim angle.

[0053] S63, roll adjustment: if the vehicle appears "left high and right low" (relative to the navigation direction) during navigation, the left side pod propeller 8 sprays water upward, and the right side pod propeller 8 sprays water downward to exert a negative torque in the X-axis direction on the vehicle, so that the vehicle maintains a horizontal posture. Conversely, if the vehicle appears "left low and right high" (relative to the navigation direction) during navigation, the left side pod propeller sprays water downward, and the right side propeller sprays water upward to exert a positive torque in the X-axis direction on the vehicle, so that the vehicle maintains a horizontal posture.

[0054] S7, according to the real-time posture of the amphibious vehicle, the control method combining the environment and the posture sensing, and the amphibious vehicle control equation, the real-time adjustment and control of the amphibious vehicle navigation posture are realized to ensure the stability and safety of the amphibious vehicle during navigation.

[0055] The above specific description further details the purpose, technical solution and beneficial effects of the application, and it should be understood that the application is not limited to the scope of the specific embodiments, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application should be included in the protection scope of the application.

Claims

1. A method for coordinated adjustment of an amphibious vehicle attitude adjustment device, implemented based on an amphibious vehicle attitude adjustment device, the amphibious vehicle attitude adjustment device comprising a front-mounted pod propeller, a retractable wave plate mechanism and a tail vector propeller mechanism, sensors and gyroscopes installed inside the amphibious vehicle, the front-mounted pod propeller being two groups of symmetrically arranged at the head of the amphibious vehicle, characterized in that: The retractable wave board mechanism is used to adjust the draft of the vehicle, the front-mounted pod propeller provides the main thrust for attitude adjustment, and the front-mounted pod propellers arranged on both sides have different thrust sizes and directions, so that the vehicle is adjusted in pitch, roll and draft; the tail vector propeller provides forward power for the vehicle, and adjusts the propelling direction through the vector nozzle, and cooperates with the front-mounted pod propeller to adjust the vehicle in pitch, roll and draft; the three work together to quickly adjust the vehicle's sailing attitude under high-speed sailing, and the specific adjustment method is as follows: Heave and draft control: if the draft of the amphibious vehicle is too deep during sailing, the wave board is further lowered, the dynamic lift of the vehicle is increased, the tail vector propeller is rotated downward, the thrust is increased, and the upward component force is provided on the premise of not affecting the required forward thrust, at the same time, the front pod propeller sprays water downward to provide upward force for the vehicle body, and the four propellers jointly act to realize the lifting of the vehicle body and reduce the draft of the vehicle; Pitch control: the amphibious vehicle may appear pitch during sailing, and if the stern is inclined too much, the vehicle may overturn, and if the bow is inclined too much, the vehicle may sink; If the bow inclination of the vehicle exceeds the critical value, the front-mounted pod propeller sprays water downward to exert upward force on the vehicle, so that the vehicle "lifts its head" and reduces the bow inclination; On the contrary, if the stern inclination exceeds the critical value, the front-mounted pod propeller sprays water upward to exert downward force on the vehicle, so that the vehicle "lowers its head" and reduces the stern inclination; Roll control: the amphibious vehicle may appear roll due to the influence of wave adjustment, if the vehicle appears "left high and right low" during sailing, the left pod propeller sprays water upward and the right propeller sprays water downward to jointly adjust the vehicle to keep the horizontal attitude; on the contrary, if the vehicle appears "left low and right high" during sailing, the left pod propeller sprays water downward and the right propeller sprays water upward.

2. An amphibian attitude adjustment control method, characterized by: The method comprises the following steps: S1, the amphibious vehicle is provided with a water depth sensor for obtaining real-time draft data of the vehicle, a wave height sensor for obtaining real-time wave height around the vehicle, a speed sensor for monitoring the real-time speed of the vehicle, and a gyroscope for obtaining real-time sailing parameters of the vehicle including pitch angle and roll angle; according to the sensor and gyroscope data, it is judged whether the sailing attitude of the amphibious vehicle meets the safety sailing requirement, and whether there is abnormal driving attitude, the abnormal driving attitude includes excessive pitch, roll and draft; the sensor is used to transmit the real-time speed and sailing attitude of the amphibious vehicle to the system, a PID active control regulator based on the sailing attitude feedback is used to quickly estimate the attitude, and the propeller is controlled according to the control equation of the amphibious vehicle; S2, if the amphibious vehicle keeps good attitude and the attitude monitoring data does not exceed the critical value, the tail vector propeller of the vehicle normally operates to provide thrust for the vehicle sailing, and the front-mounted pod propeller of the vehicle is in a stopped operating state; the attitude monitoring data includes pitch angle and roll angle. S3, if the amphibious vehicle needs to adjust the sailing posture, the tail vectoring propeller and the front-mounted pod propeller are in working state at the same time, the tail vectoring propeller provides the propelling force for the vehicle to advance and changes the water jet direction to adjust the vehicle pitch and draft according to the needs, the front-mounted pod propeller adjusts the vehicle posture by using the 360° rotation characteristics; S4, according to the above steps to judge the vehicle posture, and according to the amphibious vehicle posture adjusting device cooperative adjusting method of claim 1, combined with the PID active control regulator of the sailing posture feedback, the real-time adjustment and control of the amphibious vehicle sailing posture are realized.

3. The amphibious vehicle posture adjusting control method of claim 2, characterized in that: The control equation of the amphibious vehicle in S1 is: In the above formula, m is the amphibious vehicle mass, I xx , yy , zz I are the moments of inertia about the x, y, z axes, respectively, and the subscripts H, P represent the body force and the propeller thrust, respectively; X, Y, Z, K, M, and N are the surge, sway, heave forces and the roll, pitch, yaw moments, respectively; u, v, and w are the linear velocities, and are the linear accelerations, p, q, and r are the Euler angles, and are the Euler angle accelerations; in the formula, the coordinate system is the vehicle motion coordinate system, and the positive direction of the X axis is the vehicle forward direction.

4. The attitude adjustment control method of an amphibious vehicle according to claim 3, characterized by: According to the vehicle body posture and sensor data, the propeller thrust required by the vehicle body in the posture adjusting process is obtained, the propeller rotating speed is obtained according to the equation, and the propeller operates at the target rotating speed, specifically, the propeller thrust and torque are: X P = P cos θ Z P = P sin θ In the above equation, n is the rotational speed, D P is the diameter of the propeller, p is the density of the liquid, B P is the distance between the two propellers; and q is the angle between the propeller thrust and the horizontal plane.

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