A method for controlling a cross-medium vehicle in response to a multi-task profile

Abstract

The present application relates to the technical field of cross-medium vehicle control, and particularly relates to a cross-medium vehicle control method for coping with multi-task profiles, which comprises the following steps: outputting a motion trajectory error signal by subtracting a desired motion trajectory from an actual motion trajectory, and calculating a control instruction; determining a task profile area where the cross-medium vehicle is located based on a real-time height signal of the cross-medium vehicle, and switching a control mode according to a switching rule; switching an output channel of the control instruction according to the control mode, and outputting to a corresponding execution mechanism to control a desired control force and / or torque of the execution mechanism. The present application determines a motion deviation of the cross-medium vehicle based on a motion trajectory error, generates a control instruction for the execution mechanism, determines a medium interval where the vehicle is located and switches the control mode, which is beneficial to realize intelligent adaptive collaborative control of multi-task profiles, and achieves the beneficial effects of optimal overall control performance of the cross-medium vehicle in all operation domains such as air cruising, underwater diving and cross-medium transition.

Description

Technical Field

[0001] This invention relates to the field of cross-medium vehicle control technology, and in particular to a cross-medium vehicle control method for handling multi-mission profiles. Background Technology

[0002] Transmedium vehicles can cruise in the air, submerge underwater, and transition between two media. To avoid the impact of large impact loads on the vehicle's mechanical structure when crossing water media, a variable-configuration wing structure is introduced to mimic the folded wings of birds, thereby reducing the impact drag when the vehicle crosses media.

[0003] Due to the significant differences in physical properties such as density and viscosity between air and water, the motion characteristics of cross-medium vehicles are drastically different in the two media. The water entry and exit processes involve the coupling between the vehicle and the fluid medium, sudden load changes when crossing the medium, and instantaneous instability due to attitude changes. This makes cross-medium vehicles exhibit typical characteristics of complex nonlinear control systems. For example, the wings that provide lift during the flight phase generate huge drag during water entry, which also affects pitch control performance; the imbalance between added mass and induced drag during water exit increases the difficulty of measuring the motion parameters of cross-medium vehicles.

[0004] Currently, during multi-mission operations in the air / surface / underwater, most cross-medium vehicles rely on pre-determined coordinated control schemes based on the structural layout parameters of actuators such as wings and rotors. This makes it impossible to dynamically adjust the control method based on single / cross-medium navigation modes, external environmental disturbances, and actuator failure information. Ultimately, this may result in cross-medium vehicles being unable to cope with highly reliable adaptive and coordinated control in multi-mission profiles in the air / surface / underwater. Sudden changes in the single / cross-medium operation control characteristics of cross-medium vehicles and unmeasurable load impact parameters during water entry / exit processes make the vehicles difficult to control in these processes.

[0005] Unlike drones, surface ships, and underwater vehicles, cross-medium vehicles need to repeatedly cross the air / water interface and maintain optimal dynamic performance in this process. Currently, there is a lack of control methods that enable cross-medium vehicles to remain stable when repeatedly crossing the air / water interface. Summary of the Invention

[0006] This invention provides a control method for cross-medium vehicles that addresses the shortcomings of existing technologies. Current cross-medium vehicles, during multi-mission operations in the air / surface / underwater, can only predetermine coordinated control schemes based on the structural layout parameters of the actuators, and cannot dynamically adjust the control method according to single / cross-medium navigation modes, external environmental disturbances, and actuator failure information. This invention achieves intelligent adaptive cooperative control of cross-medium vehicles in multi-mission profiles under external disturbance environments, resulting in optimal overall control performance across the entire operational domain, including air cruise, underwater navigation, and cross-medium transitions.

[0007] This invention provides a cross-medium vehicle control method for handling multi-mission profiles, comprising:

[0008] Input the desired trajectory of the cross-medium vehicle; obtain the actual trajectory of the cross-medium vehicle;

[0009] The motion trajectory error is obtained by subtracting the desired motion trajectory from the actual motion trajectory, and the motion trajectory error signal is output; the parameter estimation signals of the unmeasurable parameters of the cross-medium vehicle are obtained; and the control command is calculated based on the motion trajectory error signal and the parameter estimation signal.

[0010] Based on the actual motion trajectory, the real-time altitude signal of the cross-medium vehicle is obtained, the mission profile area where the cross-medium vehicle is located is determined, and then the control mode of the cross-medium vehicle is switched according to the preset switching rules.

[0011] The output channel of the control command is switched according to the control mode, and the control command is output to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command.

[0012] Specifically, obtaining the motion trajectory error signal by subtracting the desired motion trajectory from the actual motion trajectory includes:

[0013] Obtain the position error signal between the expected position and the actual position of the cross-medium vehicle, and obtain the attitude error signal between the expected attitude and the actual attitude of the cross-medium vehicle;

[0014] Based on the position error signal and the parameter estimation signal, control commands are output to control the position of the transmedium vehicle; based on the attitude error signal and the parameter estimation signal, control commands are output to control the attitude of the transmedium vehicle, wherein the attitude of the transmedium vehicle includes angle and angular velocity.

[0015] The acquisition of parameter estimation signals for unmeasurable parameters of a cross-medium vehicle includes:

[0016] The control forces and / or torques of each actuator on the transmedium vehicle and the actual motion trajectory of the transmedium vehicle are input into a trained recursive wavelet fuzzy neural network. The recursive wavelet fuzzy neural network identifies unmeasurable parameter values ​​and compensates the parameter estimation signals of the unmeasurable parameter values ​​to the motion trajectory error signal, thereby outputting real-time control commands.

[0017] The trained recursive wavelet fuzzy neural network is trained based on a set of sample data including historical unmeasurable parameter values, control forces and / or torques of each actuator, and the actual motion trajectory of the transmedium vehicle.

[0018] Specifically, in order to switch the control mode of the cross-medium vehicle according to a preset switching rule, the real-time altitude signal of the cross-medium vehicle is used as a feature parameter to determine the current mission profile region of the cross-medium vehicle:

[0019] The task profile region is sequentially divided into a first single-medium region, a cross-medium region, and a second single-medium region.

[0020] The area within any preset height above or below the interface between the air and the water is the cross-medium region.

[0021] Specifically, the control mode of the cross-medium vehicle is switched according to preset switching rules, which include:

[0022] Based on the attitude error signal, the real-time altitude signal of the cross-medium vehicle is obtained. If it is determined that the cross-medium vehicle is in the cross-medium region, then the cross-medium vehicle is in medium crossing mode. The wings and flight attitude of the cross-medium vehicle are adjusted to control the cross-medium vehicle to complete the process of crossing the air / water two-phase interface.

[0023] If it is determined that the cross-medium vehicle is located in the first single-medium region above the upper boundary of the cross-medium region, then the cross-medium vehicle is in cruise control mode, controlling the cross-medium vehicle to cruise in the air.

[0024] If it is determined that the cross-medium vehicle is located in the second single-medium region below the lower boundary of the cross-medium region, then the cross-medium vehicle is in underwater submerged control mode, controlling the cross-medium vehicle to submerge underwater.

[0025] Specifically, within the first single-medium area, a single-medium space with a preset height range is selected as the first transition area, with the lower boundary of the first single-medium area as the base. When the cross-medium vehicle moves from the cross-medium area to the first transition area, the wings and flight attitude of the cross-medium vehicle are adjusted to change the cross-medium vehicle from the medium crossing mode to the cruise control mode.

[0026] Within the second single-medium region, a single-medium space within a preset height range is selected as the second transition region, with the upper boundary of the second single-medium region as the top. When the cross-medium vehicle moves from the cross-medium region to the second transition region, the wings and navigation attitude of the cross-medium vehicle are adjusted to change the cross-medium vehicle from the medium crossing mode to the underwater submersible control mode.

[0027] Based on the pseudo-inverse optimization allocation strategy with minimum energy consumption, the output channel of the control command is switched according to the control mode, and the control command is output to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command. Based on the nonlinear mapping between the control force and / or torque and the speed and angle signals, the speed and angle signals are output to the actuator to be allocated.

[0028] The actuators are allocated using the Euclidean norm of the rotation speed and angle signals as the optimization objective function to minimize the energy consumption of the transmedium vehicle.

[0029] Preferably, the effectiveness coefficient matrix W of the actuator function allocation is obtained, and actuators with effectiveness coefficients greater than a preset threshold are selected according to the effectiveness coefficient matrix, thereby allocating the actuators:

[0030] W = diag(1-k1, 1-k2, ..., 1-k n );

[0031] Where, k l Satisfying 0≤k l ≤1, where 1-k is the failure coefficient of the control force / torque of the corresponding actuator. l This is the effectiveness coefficient of the control force / torque of the corresponding actuator;

[0032] The larger the failure coefficient of the control force / torque of any actuator, the smaller the effectiveness coefficient of the corresponding actuator. When the effectiveness coefficient of an actuator is lower than a preset threshold, the actuator is judged to be in a fault state.

[0033] On the other hand, the present invention also provides a control system for a cross-medium vehicle that can cope with multiple mission profiles, including a controller module, a switcher module, a switching rule module, an actuator function allocation module, a cross-medium vehicle, and a parameter identification module.

[0034] The desired motion trajectory and the actual motion trajectory input of the cross-medium vehicle are subtracted by an adder to output a motion trajectory error signal; the parameter identification module is used to obtain parameter estimation signals of the unmeasurable parameters of the cross-medium vehicle; the controller module receives the input motion trajectory error signal and the parameter estimation signal as excitation signals and calculates control commands.

[0035] The switching rule module obtains the real-time altitude signal of the cross-medium vehicle based on the actual motion trajectory, determines the mission profile area where the cross-medium vehicle is located, and then switches the control mode of the cross-medium vehicle according to the preset switching rules.

[0036] The switcher module switches the output channel of the control command according to the selected control mode, so that the control command output by the controller module is output to the actuator function allocation module. The actuator function allocation module allocates the actuator and outputs the control command to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command.

[0037] The present invention also provides a cross-medium vehicle for coping with multiple mission profiles, the cross-medium vehicle comprising: a plurality of foldable wings, any number of power supplies, control circuits and actuators, characterized in that the control circuit of the cross-medium vehicle is equipped with the control system of the cross-medium vehicle for coping with multiple mission profiles described above.

[0038] The control system controls the desired control force and / or torque of the actuator to switch the control mode of the cross-medium vehicle.

[0039] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for a transmedium vehicle in response to a multi-task profile as described above.

[0040] The present invention provides a cross-medium vehicle control method for handling multi-mission profiles, which has at least the following beneficial effects:

[0041] (1) Based on the difference between the expected motion trajectory and the actual motion trajectory, the motion trajectory error of the cross-medium vehicle is obtained, and the parameter estimation signal of the unmeasurable parameters of the cross-medium vehicle is obtained. Based on the motion trajectory error signal and the parameter estimation signal, the control command is calculated. It takes into account not only the operating position and attitude of the cross-medium vehicle, but also the additional drag that is time-varying and unmeasurable caused by harsh working environments such as the autonomous variant of the wing, abrupt changes in dynamic effects, and wind / wave / current environmental interference. It makes up for the uncertainty of the motion of the cross-medium vehicle caused by unmeasurable parameters, so that the cross-medium vehicle can achieve intelligent adaptive cooperative control of multiple mission profiles in the external disturbance environment.

[0042] (2) Based on the motion trajectory error, the motion deviation between the cross-medium vehicle and the desired motion trajectory is determined, thereby generating control commands for the actuators such as wings and motors. The medium range where the vehicle is located is determined according to the real-time altitude of the vehicle, and the control mode suitable for the current medium is switched. This is conducive to realizing intelligent adaptive and cooperative control of multiple mission profiles, and achieving the beneficial effect of optimal overall control performance of the cross-medium vehicle in the entire operating domain, such as air cruise, underwater submersion and cross-medium transition. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of the cross-medium vehicle described in the background art of this invention;

[0045] Figure 2 This is a flowchart illustrating the cross-medium vehicle control method for handling multi-mission profiles provided by the present invention.

[0046] Figure 3 This is a schematic diagram of the neural network structure of the cross-medium vehicle control method for handling multi-task profiles provided by the present invention.

[0047] Figure 4 This is a schematic diagram of the cross-medium vehicle full mission profile region division of the neural network of the cross-medium vehicle control method for coping with multi-mission profiles provided by the present invention.

[0048] Figure 5 This is a schematic diagram of the principle of the cross-medium vehicle control system for handling multi-mission profiles provided by the present invention;

[0049] Figure 6 This is a schematic diagram of the controller module of the cross-medium vehicle control system for handling multi-task profiles provided by the present invention;

[0050] Figure label:

[0051] 1. Left and right V-shaped tail fins; 2. Fuselage; 3. Left and right rotors (with built-in motors); 4. Tail rotor (with built-in motor); 5. Tilting mechanism (with built-in servo); 6. Nose; 7. Foldable wings. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0053] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or modules is not limited to the steps or modules listed, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to such process, method, product, or apparatus.

[0054] It should be noted that the terms "first" and "second" used in this invention merely distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" can be interchanged in a specific order or sequence where permissible. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those described or illustrated herein.

[0055] It should be noted that cross-medium aircraft are a new type of amphibious multi-functional equipment that combines the advantages of aircraft and submarines. They can navigate in both the air and underwater, and perform special missions such as reconnaissance and surveillance, as well as civilian missions such as marine resource exploration, search and rescue, and water quality testing. They have significant military and civilian value. Cross-medium aircraft need to cruise in the air and submerge underwater, and frequently transition between the two media during operation. To avoid the impact of large impact loads on the mechanical structure of the aircraft when crossing water media, a variable-configuration wing structure is usually introduced into such airframes to mimic the folded wings of birds, thereby reducing the impact drag when the aircraft crosses media.

[0056] Specifically, considering the characteristics of multi-mission profiles in the air, on the surface, and underwater, the cross-medium vehicle control method for handling multi-mission profiles presented in this invention is applicable to any cross-medium vehicle. The overall structure of such vehicles is as follows: Figure 1 As shown, the overall structure of the cross-medium vehicle system mainly includes the fuselage, nose, left and right foldable wings and left and right rotors (with built-in motors) for switching between air / underwater navigation and water surface entry / exit, left and right tilting mechanisms (with built-in servos), left and right V-tails and tail rotors (with built-in motors).

[0057] It should be noted that the structure of the cross-medium vehicle described here is merely one application carrier in the embodiments of the present invention, and not a further limitation of the present invention. In essence, as long as the cross-medium vehicle has a corresponding airframe structure, multiple actuators, and a corresponding electronic control unit, the control model of the cross-medium vehicle can be switched based on the method provided by the present invention, and the corresponding actuators can be adaptively allocated according to the control mode. For example:

[0058] In the overall structural layout of the described aircraft, the left and right tilting mechanism on the front side connects the tilting servo to the left and right rotor motors via a motor base, allowing simultaneous changes in the rotational speed and direction of the left and right rotors. The tail rotor, however, can only change its rotational speed via its internal motor. Therefore, the cross-medium aircraft achieves motion attitude control in rotor mode through the internal servo in the tilting mechanism and the internal motors in the left, right, and tail rotors, similar to the control principle of a typical multi-rotor UAV, enabling maneuvers such as level flight, acceleration, and hovering.

[0059] Specifically, when the rotor axis is at 90° to the horizontal, the vehicle is in rotor mode, with the left and right rotors and tail rotor simultaneously providing vertical lift. When the rotor axis is at 0° to the horizontal, the vehicle is in fixed-wing mode, with the left and right rotors providing forward thrust, the tail rotor being stationary, and vertical lift derived from the pressure difference between the upper and lower surfaces of the foldable wings. The vehicle's attitude is adjusted via the left and right V-tails. Upon entering the water, the foldable wings on both sides fold and retract, reducing the cross-sectional area and impact force upon entry. Subsequently, the vehicle enters submerged mode, directly employing the control strategy from rotor mode. This involves adjusting the speed of the internal motors in the left and right rotors and the angle of the internal servo motors in the tilt mechanism, along with adjusting the speed of the internal motor in the tail rotor, to control the underwater motion attitude of the vehicle.

[0060] As an example, during the execution of the multi-mission profile of cross-medium vehicle air cruise, water entry / exit transition, and underwater submersible navigation, it goes through multiple stages such as rotor configuration, transition configuration, fixed wing configuration, transition configuration, rotor configuration, and wing folding.

[0061] In the initial state, the aircraft takes off from the ground in rotor configuration, with the left and right rotors and tail rotor pointing vertically upwards. After the aircraft reaches a certain safe flight altitude, it is adjusted from rotor configuration to transition configuration acceleration mode. That is, the two front rotors begin to tilt forward through built-in servo motors to maintain the stability of the aircraft and adjust the motor speed of the two rotors to increase forward speed. When the two rotors are fully tilted forward, it enters fixed configuration cruise mode.

[0062] After completing the aerial patrol mission, the aircraft enters the transition configuration deceleration mode, in which the left and right rotors transition from a fully forward tilted state to a vertical state. At this time, the motor speeds of the left and right rotors are adjusted to reduce the forward flight speed. When the left and right rotors are completely vertical, the aircraft enters the rotor configuration landing flight mode, and the internal motor speeds of the left and right rotors and the tail rotor are reduced to achieve a smooth landing.

[0063] like Figure 2 As shown, to address the complex control challenges of abrupt changes in single-medium / cross-medium operation control characteristics and unmeasurable load impact parameters during water entry / exit processes in cross-medium vehicles, this invention provides a control method for cross-medium vehicles operating across multiple mission profiles. This method enables the aforementioned cross-medium vehicle to operate across media within a multi-mission profile, meeting the high-reliability collaborative control requirements of multi-mission profiles in harsh operating environments. Specifically, it includes:

[0064] Input the desired trajectory of the cross-medium vehicle; obtain the actual trajectory of the cross-medium vehicle;

[0065] The motion trajectory error is obtained by subtracting the desired motion trajectory from the actual motion trajectory, and the motion trajectory error signal is output; the parameter estimation signals of the unmeasurable parameters of the cross-medium vehicle are obtained; and the control command is calculated based on the motion trajectory error signal and the parameter estimation signal.

[0066] Based on the actual motion trajectory, the real-time altitude signal of the cross-medium vehicle is obtained, the mission profile area where the cross-medium vehicle is located is determined, and then the control mode of the cross-medium vehicle is switched according to the preset switching rules.

[0067] The output channel of the control command is switched according to the control mode, and the control command is output to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command.

[0068] Specifically, the desired control force and / or torque output is mapped to the rotational speed and angle signals of actuators, including but not limited to the left and right foldable wings, left and right rotors, left and right tilting mechanisms, left and right V-tails and tail rotors, thereby driving the cross-medium vehicle to achieve intelligent adaptive cooperative control of multiple mission profiles in the event of external disturbances.

[0069] Specifically, obtaining the motion trajectory error signal by subtracting the desired motion trajectory from the actual motion trajectory includes:

[0070] Obtain the position error signal between the expected position and the actual position of the cross-medium vehicle, and obtain the attitude error signal between the expected attitude and the actual attitude of the cross-medium vehicle;

[0071] Based on the position error signal and the parameter estimation signal, control commands are output to control the position of the transmedium vehicle; based on the attitude error signal and the parameter estimation signal, control commands are output to control the attitude of the transmedium vehicle, wherein the attitude of the transmedium vehicle includes angle and angular velocity.

[0072] Optionally, considering that the entry and exit processes of cross-medium vehicles involve coupling between the vehicle and the fluid medium, sudden load changes during medium crossing, and instantaneous instability due to attitude changes, coupled with harsh operating environments such as autonomous wing morphing, abrupt dynamic effects, and wind / wave / current interference, additional drag that is time-varying and unmeasurable is easily generated. Furthermore, this additional drag decreases non-uniformly and asymmetrically as water erosion occurs, increasing the randomness and uncontrollability of the entry / exit process. Therefore, it is necessary to obtain parameter estimation signals for the unmeasurable parameters of the cross-medium vehicle, including:

[0073] The control forces and / or torques of each actuator on the transmedium vehicle and the actual motion trajectory of the transmedium vehicle are input into a trained recursive wavelet fuzzy neural network. The recursive wavelet fuzzy neural network identifies unmeasurable parameter values ​​and compensates the parameter estimation signals of the unmeasurable parameter values ​​to the motion trajectory error signal, thereby outputting real-time control commands.

[0074] The trained recurrent wavelet fuzzy neural network is trained based on a set of sample data including historical unmeasurable parameter values, control forces and / or torques of each actuator, and the actual motion trajectory of the cross-medium vehicle.

[0075] Among them, such as Figure 3 As shown, the recurrent wavelet fuzzy neural network comprises five layers: an input layer, a membership function layer, a rule layer, a wavelet and consequent layer, and an output layer. Its network topology is as follows: Figure 3 As shown, the input layer includes two types of network nodes: control force / torque signal and actual trajectory signal. The wavelet layer incorporates a recursive structure to enhance its dynamic mapping and information storage capabilities. The output layer is the online estimate of unmeasurable parameters such as impact load and additional resistance.

[0076] By utilizing the back propagation of the driving force / torque signal and the actual trajectory signal, as well as the estimation error of unmeasurable parameters, the recursive wavelet fuzzy neural network can identify the values ​​of unmeasurable parameters online, compensating for the uncertainty of cross-medium vehicle motion caused by the unmeasurability of added mass and induced drag.

[0077] Specifically, in order to switch the control mode of the cross-medium vehicle according to a preset switching rule, the real-time altitude signal of the cross-medium vehicle is used as a feature parameter to determine the current mission profile region of the cross-medium vehicle:

[0078] The task profile region is sequentially divided into a first single-medium region, a cross-medium region, and a second single-medium region.

[0079] The area within any preset height above or below the interface between the air and the water is the cross-medium region.

[0080] Specifically, the control mode of the cross-medium vehicle is switched according to preset switching rules, which include:

[0081] Based on the attitude error signal, the real-time altitude signal of the cross-medium vehicle is obtained. If it is determined that the cross-medium vehicle is in the cross-medium region, then the cross-medium vehicle is in medium crossing mode. The wings and flight attitude of the cross-medium vehicle are adjusted to control the cross-medium vehicle to complete the process of crossing the air / water two-phase interface.

[0082] If it is determined that the cross-medium vehicle is located in the first single-medium region above the upper boundary of the cross-medium region, then the cross-medium vehicle is in cruise control mode, controlling the cross-medium vehicle to cruise in the air.

[0083] If it is determined that the cross-medium vehicle is located in the second single-medium region below the lower boundary of the cross-medium region, then the cross-medium vehicle is in underwater submerged control mode, controlling the cross-medium vehicle to submerge underwater.

[0084] Specifically, within the first single-medium area, a single-medium space with a preset height range is selected as the first transition area, with the lower boundary of the first single-medium area as the base. When the cross-medium vehicle moves from the cross-medium area to the first transition area, the wings and flight attitude of the cross-medium vehicle are adjusted to change the cross-medium vehicle from the medium crossing mode to the cruise control mode.

[0085] Within the second single-medium region, a single-medium space within a preset height range is selected as the second transition region, with the upper boundary of the second single-medium region as the top. When the cross-medium vehicle moves from the cross-medium region to the second transition region, the wings and navigation attitude of the cross-medium vehicle are adjusted to change the cross-medium vehicle from the medium crossing mode to the underwater submersible control mode.

[0086] In one specific embodiment, using the altitude (depth) signal of the cross-medium vehicle as a characteristic parameter, online switching rules for the control channel are designed to achieve switching stability from the single-medium operating domain to the cross-medium operating domain. Specifically, this includes:

[0087] Motion signals in the height (depth) direction are characteristic parameters that distinguish the single-medium operating domain and the cross-medium operating domain of a transmedium vehicle, such as... Figure 4As shown, the full mission profile of the cross-medium vehicle is divided along this direction into the free cruise region in the air, the medium crossing region, and the free submersion region in the water.

[0088] The free-cruising zone in the air is the first single-medium zone, the medium-crossing zone is the cross-medium zone, and the free-submerging zone in the water is the second single-medium zone.

[0089] Furthermore, let z = 0 be the interface between the air and the water, and take the height interval z ∈ [-ε w ,ε a The first region is designated as the cross-medium operating region, while the others are single-medium operating regions. Additionally, a height range of δ is selected near each of the cross-medium regions. a δ w The single-medium space serves as a transition zone, allowing the vehicle to prepare and adjust before and after crossing the water, thereby avoiding high-frequency jitter at the interface between the single-medium and cross-medium regions during control mode switching; the essence of the transition zone is still the single-medium operating zone.

[0090] The criteria for determining the region division of the full mission profile of a cross-medium vehicle are as follows:

[0091]

[0092] Based on the region division criteria of the full mission profile of the cross-medium vehicle, and using the vehicle's real-time altitude (depth) feedback signal as the driving signal, the switching rule σ(t) is as follows:

[0093]

[0094] The switching rule only depends on the instantaneous feedback value of the vehicle's altitude (depth) signal, and the driving signal is a component of the real-time operating attitude output signal of the cross-medium vehicle. That is, the σ(t) designed in this invention belongs to the discrete event-driven output feedback switching rule.

[0095] Dividing the range of the driving signal z(t) into three mutually non-overlapping sets not only reasonably describes the working space corresponding to different altitude (depth) signals of the vehicle, but also ensures that the switching rule σ(t) is strictly right-continuous at any time.

[0096] In the actual operation of the cross-medium vehicle, when σ(t) = 0, the vehicle is in underwater submerged control mode; when σ(t) = 1, the vehicle is in controlled cruise control mode; and when σ(t) = 2, the vehicle is in medium crossing control mode.

[0097] Based on the selected control mode, the desired control force / torque is converted into the rotational speed and angle signals of the actuators such as the left and right foldable wings, left and right rotors, left and right tilting mechanisms, left and right V-tails and tail rotor, thereby completing the mode switching;

[0098] Furthermore, since most cross-medium vehicles have multiple actuators, they are overdrive systems with redundant actuators. It is necessary to combine the installation position, structural parameters and optimization objective function of the actuators to achieve the coordinated distribution of the desired control force / torque. This is achieved by nonlinearly mapping the speed / angle signals with the control force / torque to the motor speed signals and servo angle signals that are acceptable to the cross-medium vehicle.

[0099] Based on the pseudo-inverse optimization allocation strategy with minimum energy consumption, the output channel of the control command is switched according to the control mode, and the control command is output to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command. Based on the nonlinear mapping between the control force and / or torque and the speed and angle signals, the speed and angle signals are output to the actuator to be allocated.

[0100] The actuators are allocated using the Euclidean norm of the rotation speed and angle signals as the optimization objective function to minimize the energy consumption of the transmedium vehicle.

[0101] Preferably, the effectiveness coefficient matrix W of the actuator function allocation is obtained, and actuators with effectiveness coefficients greater than a preset threshold are selected according to the effectiveness coefficient matrix, thereby allocating the actuators:

[0102] W = diag(1-k1, 1-k2, ..., 1-k n );

[0103] Where, k l Satisfying 0≤k l ≤1, where 1-k is the failure coefficient of the control force / torque of the corresponding actuator. l This is the effectiveness coefficient of the control force / torque of the corresponding actuator;

[0104] The larger the failure coefficient of the control force / torque of any actuator, the smaller the effectiveness coefficient of the corresponding actuator. When the effectiveness coefficient of an actuator is lower than a preset threshold, the actuator is judged to be in a fault state.

[0105] By imposing penalties on faulty actuators, their priority level is reduced or limited; that is, the higher the failure coefficient of the actuator's control force / torque, the lower its priority level. When the control force / torque of an actuator completely fails, its use is restricted. Based on the designed pseudo-inverse optimization allocation strategy, energy consumption can be minimized during normal operation and partial failure modes of redundant actuators in cross-medium aircraft.

[0106] On the other hand, the present invention also provides a control system for a cross-medium vehicle that can cope with multiple mission profiles. The control system described below and the control method described above can be referred to in correspondence with each other. Specifically, it includes a controller module, a switcher module, a switching rule module, an actuator function allocation module, a cross-medium vehicle, and a parameter identification module.

[0107] The desired motion trajectory and the actual motion trajectory input of the cross-medium vehicle are subtracted by an adder to output a motion trajectory error signal; the parameter identification module is used to obtain parameter estimation signals of the unmeasurable parameters of the cross-medium vehicle; the controller module receives the input motion trajectory error signal and the parameter estimation signal as excitation signals and calculates control commands.

[0108] The switching rule module obtains the real-time altitude signal of the cross-medium vehicle based on the actual motion trajectory, determines the mission profile area where the cross-medium vehicle is located, and then switches the control mode of the cross-medium vehicle according to the preset switching rules.

[0109] The switcher module switches the output channel of the control command according to the selected control mode, so that the control command output by the controller module is output to the actuator function allocation module. The actuator function allocation module allocates the actuator and outputs the control command to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command.

[0110] In one instance, such as Figure 5-6 The diagram shown is a schematic of a control method and system for a cross-medium vehicle capable of handling multiple mission profiles, provided by the present invention, wherein:

[0111] The desired trajectory and actual trajectory of the cross-medium vehicle are simultaneously input into an adder for subtraction. The trajectory error signal output by the adder and the parameter estimation signal output by the parameter identification module serve as excitation signals for three controller modules (air cruise controller, medium crossing controller, and underwater submersible controller). These excitation signals enable the three controller modules to calculate control commands (i.e., desired control force / torque). Simultaneously, the vehicle's depth (height) signal is selected as a characteristic parameter and input into a discrete event-driven switching rule module. The switching command output by the switching rule module activates the corresponding output channel of the switcher and the controller module. The control commands output by the corresponding controller module are input to the actuator function allocation module, which maps the desired control force / torque output by the controller to the rotational speed and angle signals of actuators such as foldable wings, rotors, tilting mechanisms, tail fins, and tail rotors. Ultimately, this drives the cross-medium vehicle to achieve intelligent adaptive cooperative control of multiple mission profiles under external disturbances, achieving the beneficial effect of optimal overall control performance across the entire operating domain, including air cruise, underwater submersible navigation, and cross-medium transition.

[0112] Specifically, the controller structure is as follows: Figure 6 As shown, the three controller modules (air cruise controller, medium crossing controller, and underwater submersible controller) include outer loop position control and inner loop attitude control. The position control signal is generated by subtracting the desired position and the real-time position using an adder, and the attitude control signal is generated by subtracting the desired attitude and the real-time attitude using an adder. The attitude includes angle and angular velocity.

[0113] This invention also provides a cross-medium vehicle capable of handling multiple mission profiles. The cross-medium vehicle includes: several sets of foldable wings, any number of power supplies, control circuits, and actuators. This invention does not limit the structure of the cross-medium vehicle. The control circuit of the cross-medium vehicle provided by this invention is equipped with the control system of the cross-medium vehicle capable of handling multiple mission profiles provided above. This control system and the cross-medium vehicle equipped with this system can be referred to in correspondence with the control method described above.

[0114] The control system controls the desired control force and / or torque of the actuator to switch the control mode of the cross-medium vehicle.

[0115] The present invention also provides an electronic device, which may include a processor, a communications interface, a memory, and a communication bus, wherein the processor, the communications interface, and the memory communicate with each other via the communication bus. The processor can invoke logical instructions in the memory to execute the steps of the control method for a cross-medium vehicle with a multi-task profile provided above.

[0116] Furthermore, the logical instructions in the aforementioned memory can be implemented as software functional units and sold or used as independent products, and can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0117] On the other hand, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, enable the computer to perform the steps of the control methods for transmedium vehicles with multi-mission profiles provided by the methods described above.

[0118] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control methods for a transmedium vehicle in response to multi-task profiles provided by the methods described above.

[0119] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a cross-medium vehicle in response to a multi-task profile, the method comprising: include: Input the desired trajectory of the cross-medium vehicle; Obtain the actual motion trajectory of the cross-medium vehicle; The motion trajectory error is obtained by subtracting the expected motion trajectory from the actual motion trajectory, and the motion trajectory error signal is output. The process involves acquiring parameter estimation signals for unmeasurable parameters of a cross-medium vehicle; calculating control commands based on the motion trajectory error signal and the parameter estimation signals; wherein, acquiring parameter estimation signals for unmeasurable parameters of the cross-medium vehicle includes: inputting the control forces and / or torques of each actuator on the cross-medium vehicle and the actual motion trajectory of the cross-medium vehicle into a trained recurrent wavelet fuzzy neural network; identifying unmeasurable parameter values ​​through the recurrent wavelet fuzzy neural network; compensating the parameter estimation signals of the unmeasurable parameter values ​​to the motion trajectory error signal; and outputting real-time control commands; the trained recurrent wavelet fuzzy neural network is trained based on a sample data set of historical unmeasurable parameter values, control forces and / or torques of each actuator, and the actual motion trajectory of the cross-medium vehicle. Based on the actual motion trajectory, the real-time altitude signal of the cross-medium vehicle is obtained, the mission profile region where the cross-medium vehicle is located is determined, and then the control mode of the cross-medium vehicle is switched according to the preset switching rules; using the real-time altitude signal of the cross-medium vehicle as a feature parameter, the mission profile region where the cross-medium vehicle is currently located is determined: the mission profile region is divided into a first single-medium region, a cross-medium region and a second single-medium region in sequence; wherein, the region within any preset height above and below the interface between the air and the water is the cross-medium region; The output channel of the control command is switched according to the control mode, and the control command is output to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command.

2. The method of claim 1, wherein, The motion trajectory error signal is obtained by subtracting the expected motion trajectory from the actual motion trajectory, including: Obtain the position error signal between the expected position and the actual position of the cross-medium vehicle, and obtain the attitude error signal between the expected attitude and the actual attitude of the cross-medium vehicle; Based on the position error signal and the parameter estimation signal, control commands are output to control the position of the transmedium vehicle; based on the attitude error signal and the parameter estimation signal, control commands are output to control the attitude of the transmedium vehicle, wherein the attitude of the transmedium vehicle includes angle and angular velocity.

3. The method of claim 2, wherein, The control mode of the cross-medium vehicle is switched according to preset switching rules, which include: Based on the attitude error signal, the real-time altitude signal of the cross-medium vehicle is obtained. If it is determined that the cross-medium vehicle is in the cross-medium region, the cross-medium vehicle is in medium crossing mode. The wings and flight attitude of the cross-medium vehicle are adjusted to control the cross-medium vehicle to complete the crossing process of the air / water two-phase interface. If it is determined that the cross-medium vehicle is located in the first single-medium region above the upper boundary of the cross-medium region, then the cross-medium vehicle is in cruise control mode, controlling the cross-medium vehicle to cruise in the air. If it is determined that the cross-medium vehicle is located in the second single-medium region below the lower boundary of the cross-medium region, then the cross-medium vehicle is in underwater submerged control mode, controlling the cross-medium vehicle to submerge underwater.

4. The cross-medium vehicle control method for handling multi-mission profiles according to claim 1, characterized in that, Within the first single-medium area, a single-medium space with a preset height range is selected as the first transition area with the lower boundary of the first single-medium area as the base. When the cross-medium vehicle moves from the cross-medium area to the first transition area, the wings and navigation attitude of the cross-medium vehicle are adjusted to change the cross-medium vehicle from the medium crossing mode to the cruise control mode. Within the second single-medium region, a single-medium space within a preset height range is selected as the second transition region, with the upper boundary of the second single-medium region as the top. When the cross-medium vehicle moves from the cross-medium region to the second transition region, the wings and navigation attitude of the cross-medium vehicle are adjusted to change the cross-medium vehicle from the medium crossing mode to the underwater submersible control mode.

5. A cross-medium vehicle control method for handling multi-mission profiles according to claim 2 or 4, characterized in that, According to the control mode, the output channel of the control command is switched, and the control command is output to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command. Based on the nonlinear mapping between the control force and / or torque and the speed and angle signals, the speed and angle signals are output to the actuator to be assigned. The actuators are allocated using the Euclidean norm of the rotation speed and angle signals as the optimization objective function to minimize the energy consumption of the transmedium vehicle.

6. The cross-medium vehicle control method for handling multi-mission profiles according to claim 5, characterized in that, The allocation of executive agencies also includes: Obtain the effectiveness coefficient matrix of the actuator function allocation, and select actuators with effectiveness coefficients greater than a preset threshold based on the effectiveness coefficient matrix: ； in, satisfy , which is the failure coefficient of the control force / torque of the corresponding actuator. This is the effectiveness coefficient of the control force / torque of the corresponding actuator; The larger the failure coefficient of the control force / torque of any actuator, the smaller the effectiveness coefficient of the corresponding actuator. When the effectiveness coefficient of an actuator is lower than a preset threshold, the actuator is judged to be in a fault state.

7. A control system for a cross-medium vehicle capable of handling multiple mission profiles, characterized in that, It includes a controller module, a switcher module, a switching rule module, an actuator function allocation module, a cross-media vehicle, and a parameter identification module; The desired motion trajectory and the actual motion trajectory input of the cross-medium vehicle are subtracted by an adder, and the motion trajectory error signal is output. The parameter identification module is used to acquire parameter estimation signals of unmeasurable parameters of the cross-medium vehicle; the controller module receives the input motion trajectory error signal and the parameter estimation signal as excitation signals, and calculates control commands; wherein, acquiring the parameter estimation signals of unmeasurable parameters of the cross-medium vehicle includes: inputting the control forces and / or torques of each actuator on the cross-medium vehicle and the actual motion trajectory of the cross-medium vehicle into a trained recurrent wavelet fuzzy neural network, identifying the unmeasurable parameter values ​​through the recurrent wavelet fuzzy neural network, compensating the parameter estimation signals of the unmeasurable parameter values ​​to the motion trajectory error signal, thereby outputting real-time control commands; the trained recurrent wavelet fuzzy neural network is trained based on a sample data set of historical unmeasurable parameter values, control forces and / or torques of each actuator, and the actual motion trajectory of the cross-medium vehicle; The switching rule module obtains the real-time altitude signal of the cross-medium vehicle based on the actual motion trajectory, determines the mission profile region where the cross-medium vehicle is located, and then switches the control mode of the cross-medium vehicle according to the preset switching rules; using the real-time altitude signal of the cross-medium vehicle as a feature parameter, the current mission profile region of the cross-medium vehicle is determined: the mission profile region is divided into a first single-medium region, a cross-medium region, and a second single-medium region in sequence; wherein, the region within any preset height above and below the interface between the air and the water is the cross-medium region; The switcher module switches the output channel of the control command according to the selected control mode, so that the control command output by the controller module is output to the actuator function allocation module. The actuator function allocation module allocates the actuator and outputs the control command to the actuator corresponding to the control mode. The desired control force and / or torque of the corresponding actuator is controlled by the control command.

8. A transmedium vehicle capable of handling multi-mission profiles, the transmedium vehicle comprising: The vehicle comprises several sets of foldable wings, any number of power supplies, control circuits, and actuators, characterized in that the control circuit of the cross-medium vehicle is equipped with a control system for the cross-medium vehicle in response to multiple mission profiles as described in claim 7. The control system controls the desired control force and / or torque of the actuator to switch the control mode of the cross-medium vehicle.

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