An adaptive attitude control method, device, and storage medium for an underwater towed platform.

Abstract

This invention proposes an adaptive attitude control method for an underwater towed platform. The underwater towed platform includes at least an attitude control unit for performing the following steps: acquiring the underwater towed platform's pitch angle θ, towing speed ν, and cable length L as input; querying the attitude control unit database for a rough value Ι1 of the tail rudder electric cylinder shaft extension length under this condition; calculating a correction value Ι2 of the tail rudder electric cylinder shaft extension length based on the platform's pitch angular velocity ω, pitch angular acceleration α, and correction parameter λ; calculating the theoretical value Ι' of the current tail rudder electric cylinder shaft extension length Ι' = Ι1 + Ι2, and comparing it with the actual value Ι of the tail rudder electric cylinder shaft extension length ; if the difference between the theoretical value Ι' and the actual value Ι of the tail rudder electric cylinder shaft extension length Ι' is greater than the allowable tolerance δ of the tail rudder electric cylinder shaft extension length , then the attitude control unit controls the tail rudder electric cylinder shaft to adjust to a new target position Ι'.

Description

Technical Field

[0001] This invention belongs to the field of underwater towed platform control, specifically relating to an adaptive attitude control method, device, and storage medium for underwater towed platforms. The method in this invention enables underwater towed platforms to adapt to various complex operating conditions such as towing speed, towing depth, and ocean current disturbances, and is suitable for tasks such as mine countermeasures, anti-submarine warfare, and hydrological surveys. Background Technology

[0002] Underwater towed platforms are typically connected to a mother ship via a composite optical-electric tow cable capable of withstanding several tons of tension. The mother ship provides power to the towed platform and enables remote real-time communication via fiber optics. The towed platform can carry equipment such as multibeam sonar, underwater acoustic beacons, Doppler logs, altimeters, depth gauges, hydrophones, and hydrological sensors to perform tasks such as mine detection, underwater acoustic signal listening, seabed scanning, and hydrological surveys.

[0003] Because the mother ship and the underwater towed platform are connected by a towline, under complex sea conditions, the mother ship's movement with the waves will cause the underwater towed platform to rise and fall, resulting in periodic changes in the platform's pitch angle within a certain range. As environmental disturbances such as sea conditions intensify, these periodic changes in the platform's pitch angle will reduce the effectiveness of the onboard equipment and even threaten mission execution. Therefore, it is necessary to install an adjustable stern rudder on the underwater towed platform to adjust its attitude, keeping its pitch angle within tolerance, resisting the effects of complex sea conditions, and ensuring that the equipment performance meets mission requirements.

[0004] Currently, the attitude control method for underwater towed platforms generally involves obtaining the target angle of attack of the rudder plate under the current operating conditions based on simulation results. The control console on the mother ship then sends control commands to the underwater towed platform via an electro-optical composite tow cable to adjust the rudder plate angle of attack to the target value. When the cable length, towing speed, sea conditions, etc., change, a new rudder plate angle of attack adjustment command needs to be issued, and the final attitude control accuracy cannot be guaranteed. Therefore, how to design a scheme to ensure high-precision attitude control of the towed platform is a problem we are concerned with. Summary of the Invention

[0005] In view of this, the present invention provides an adaptive attitude control method for an underwater towed platform, which can ensure high-precision control of the towed platform's attitude; the underwater towed platform includes at least an attitude control unit for performing the following steps:

[0006] Step 1: Take the pitch angle θ, towing speed ν, and cable length L of the underwater towing platform as input, and query the attitude control unit database for the approximate value of the tail rudder electric cylinder shaft extension length Ι1 corresponding to this working condition, Ι1=f(θ,ν,L).

[0007] Step 2: Calculate the correction value Ι2 for the extension length of the tail rudder electric cylinder shaft based on the platform pitch velocity ω, pitch acceleration α, and correction parameter λ. Ι2=g(ω,α,λ);

[0008] Step 3: Calculate the theoretical value of the current tail rudder electric cylinder shaft extension length I' = I1 + I2, and compare it with the actual value of the tail rudder electric cylinder shaft extension length I.

[0009] Step 4: If the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, the attitude control unit controls the tail rudder motor cylinder shaft to adjust to the new target position I'; if the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is not greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, the tail rudder motor cylinder shaft action is not performed this time until the next correction cycle.

[0010] Specifically, the underwater towing platform described in this method also includes a heading and attitude measuring instrument, a Doppler log, a tail rudder electric cylinder, and an electric cylinder controller; the tail rudder electric cylinder extension shaft is rigidly connected to the tail rudder rotating shaft via a spherical hinge.

[0011] Specifically, before performing step 1, the method further includes: receiving real-time attitude data of the underwater towed platform from the heading and attitude measuring instrument, including the platform pitch angle θ, pitch angular velocity ω, and pitch angular acceleration α; receiving real-time towing speed ν from the Doppler log; receiving operating conditions from the electric cylinder controller, including the extension length Ι of the tail rudder electric cylinder shaft; and receiving cable length data L, correction parameter λ, and allowable tolerance δ of the extension length δ of the tail rudder electric cylinder shaft issued by the mother ship navigation control computer.

[0012] Specifically, in step 1, the attitude control unit database contains the attitude simulation results of the underwater towed platform, which can roughly estimate the approximate value Ι1 of the tail rudder electric cylinder shaft extension length.

[0013] Specifically, the attitude control unit database is stored in the memory of the underwater towed platform.

[0014] Specifically, in step 2, the third-order Runge-Kutta integral method with a fixed integration step size is used to calculate the correction value Ι2 for the extension length of the tail rudder plate electric cylinder shaft.

[0015] Specifically, the attitude control unit autonomously corrects the tail rudder angle of attack once at fixed time intervals, and the extension length of the tail rudder electric cylinder shaft and the tail rudder angle of attack have a trigonometric function relationship.

[0016] Specifically, based on wave height and wave period data, the time interval for the attitude control unit to autonomously correct the tail rudder angle of attack is determined, thereby adjusting the platform attitude.

[0017] The present invention also proposes an adaptive attitude control device for an underwater towed platform, comprising: a coarse value calculation module for the extension length of the tail rudder electric cylinder shaft, used to obtain the pitch angle θ, towing speed ν, and cable length data L of the underwater towed platform as input, and query the attitude control unit database for the corresponding coarse value Ι1 of the extension length of the tail rudder electric cylinder shaft under this working condition, Ι1=f(θ,ν,L).

[0018] The tail rudder electric cylinder shaft extension length correction value calculation module is used to calculate the tail rudder electric cylinder shaft extension length correction value Ι2 based on the platform pitch angular velocity ω, pitch angular acceleration α, and correction parameter λ, where Ι2=g(ω,α,λ).

[0019] The tail rudder plate electric cylinder shaft extension length actual value comparison module is used to calculate the current theoretical value of tail rudder plate electric cylinder shaft extension length I' = I1 + I2, and compare it with the actual value of tail rudder plate electric cylinder shaft extension length I.

[0020] The tail rudder motor cylinder shaft correction module is used to determine whether the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length. If so, the attitude control unit controls the tail rudder motor cylinder shaft to adjust to the new target position I'. If the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is not greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, then the tail rudder motor cylinder shaft action is not performed in this cycle until the next correction cycle.

[0021] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the aforementioned adaptive attitude control method for an underwater towed platform.

[0022] Beneficial effects:

[0023] 1) This invention overcomes the shortcomings of excessive human-computer interaction and lack of autonomy in the current attitude control process of underwater towed platforms. It designs an adaptive attitude control method for underwater towed platforms, which greatly reduces the complexity of operation of equipment during mission execution and realizes one-click operation for autonomous attitude control of underwater towed platforms.

[0024] 2) This invention improves the attitude control accuracy of underwater towed platforms; by combining database query and parameter correction, the attitude of underwater towed platforms is precisely controlled. The control process is independent of the current sea state and is only related to the platform's own working status and parameters.

[0025] 3) This invention uses the third-order Runge-Kutta integration method with a fixed integration step size to calculate the correction value of the tail rudder plate electric cylinder shaft extension length, thus ensuring the accuracy of the correction value;

[0026] 4) The attitude control unit of this invention autonomously corrects the tail rudder angle of attack once at fixed time intervals. The control process is intelligent and autonomous, which improves the attitude control accuracy of the underwater towed platform, maximizes the combat effectiveness of the payload equipment, and provides strong technical support for missions such as mine countermeasures and anti-submarine warfare.

[0027] 5) In this invention, the attitude control unit database is stored in the memory of the underwater towing platform, ensuring the timeliness of data acquisition and the accuracy of control;

[0028] 6) In this invention, the time interval for the attitude control unit to autonomously correct the angle of attack of the tail rudder is determined based on wave height and wave period data, which ensures both the control accuracy of the underwater towed platform attitude and the flexibility of the overall control. Attached Figure Description

[0029] Figure 1 This is a software flowchart of the adaptive attitude control method for underwater towing platform in this invention;

[0030] Figure 2 This is a block diagram of the underwater towing platform attitude control system in this invention. Detailed Implementation

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] This invention provides an adaptive attitude control method for an underwater towed platform, the process of which is as follows: Figure 1 As shown, the underwater towed platform is equipped with an attitude control unit, a heading and attitude measuring instrument, a Doppler log, a tail rudder electric cylinder, and an electric cylinder controller. The tail rudder electric cylinder extension shaft is rigidly connected to the tail rudder rotation shaft via a spherical hinge, forming a control system as follows: Figure 2 As shown, the extension length of the tail rudder electric cylinder shaft is related to the angle of attack of the tail rudder by a trigonometric function.

[0033] First, the attitude control unit receives real-time attitude data of the underwater towed platform from the heading and attitude measuring instrument, including the platform pitch angle θ, pitch angular velocity ω, and pitch acceleration α; the attitude control unit receives real-time towing speed ν from the Doppler log; the attitude control unit receives operating conditions from the electric cylinder controller, including the tail rudder electric cylinder shaft extension length Ι; the attitude control unit receives the cable length data L, correction parameter λ, and allowable tolerance δ of the tail rudder electric cylinder shaft extension length from the mother ship's navigation control computer.

[0034] Based on sea state conditions below level 4, wave height, and wave period data, the attitude control unit autonomously corrects the tail rudder angle of attack every 200ms. The correction process for each cycle is as follows:

[0035] Step 1: The attitude control unit takes the platform pitch angle θ, towing speed ν, and cable length L as inputs, and searches the attitude control unit database for the approximate value Ι1 of the tail rudder electric cylinder shaft extension length for this condition, where Ι1 = f(θ, ν, L). The attitude control unit database contains underwater towed platform attitude simulation results, which can roughly estimate the tail rudder electric cylinder shaft extension length.

[0036] Step 2: The attitude control unit calculates the correction value Ι2 for the tail rudder electric cylinder shaft extension length using the third-order Runge-Kutta integral method with a fixed integral step size, based on the platform pitch angular velocity ω, pitch angular acceleration α, and correction parameter λ. Ι2=g(ω,α,λ).

[0037] Step 3: The attitude control unit obtains the theoretical value of the current tail rudder electric cylinder shaft extension length I' = I1 + I2, and compares it with the actual value of the tail rudder electric cylinder shaft extension length I.

[0038] Step 4: If the difference between the theoretical value Ι' of the extension length of the tail rudder electric cylinder shaft and the actual value Ι of the extension length of the tail rudder electric cylinder shaft is greater than the allowable tolerance δ of the extension length of the tail rudder electric cylinder shaft, the attitude control unit sends a command to control the tail rudder electric cylinder shaft to adjust to the new target position Ι'.

[0039] If the difference between the theoretical value Ι' of the extension length of the rudder motor cylinder shaft and the actual value Ι of the extension length of the tail rudder motor cylinder shaft is not greater than the allowable tolerance δ of the extension length of the tail rudder motor cylinder shaft, then the tail rudder motor cylinder shaft action will not be performed this time until the next correction cycle.

[0040] The present invention also proposes a control device for the adaptive attitude of an underwater towed platform, characterized in that it comprises:

[0041] The module for calculating the approximate extension length of the tail rudder electric cylinder shaft is used to obtain the pitch angle θ, towing speed ν, and cable length data L of the underwater towing platform as inputs, and query the attitude control unit database for the corresponding approximate extension length of the tail rudder electric cylinder shaft I1 under this working condition, where I1 = f(θ, ν, L).

[0042] The tail rudder electric cylinder shaft extension length correction value calculation module is used to calculate the tail rudder electric cylinder shaft extension length correction value Ι2 based on the platform pitch angular velocity ω, pitch angular acceleration α, and correction parameter λ, where Ι2=g(ω,α,λ).

[0043] The tail rudder plate electric cylinder shaft extension length actual value comparison module is used to calculate the current theoretical value of tail rudder plate electric cylinder shaft extension length I' = I1 + I2, and compare it with the actual value of tail rudder plate electric cylinder shaft extension length I.

[0044] The tail rudder motor cylinder shaft correction module is used to determine whether the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length. If so, the attitude control unit controls the tail rudder motor cylinder shaft to adjust to the new target position I'. If the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is not greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, then the tail rudder motor cylinder shaft action is not performed in this cycle until the next correction cycle.

[0045] The features in this device embodiment correspond one-to-one with the corresponding processes in the method embodiment, and for the sake of brevity, they will not be described again here.

[0046] This invention also provides a computer-readable storage medium for storing computer programs.

[0047] Optionally, the computer-readable storage medium can be applied to the control device in the embodiments of the present invention, and the computer program causes the computer to execute the corresponding processes implemented by the control device in the various methods of the embodiments of the present application. For the sake of brevity, it will not be described in detail here.

[0048] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0049] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0050] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0051] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0052] It will be apparent to those skilled in the art that the embodiments of the present invention are not limited to the details of the exemplary embodiments described above, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the embodiments of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the embodiments of the present invention is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be encompassed within the embodiments of the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims. Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules, or devices recited in the system, apparatus, or terminal claims may also be implemented by the same unit, module, or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any particular order.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of the embodiments of the present invention should not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive attitude control method for an underwater towed platform, characterized in that, The underwater towed platform includes at least an attitude control unit for performing the following steps: Step 1: Input the pitch angle θ, towing speed ν, and cable length L of the underwater towed platform. Query the attitude control unit database for the approximate value Ι1 of the tail rudder electric cylinder shaft extension length under this condition, where Ι1 = f(θ, ν, L). The attitude control unit database contains underwater towed platform attitude simulation results, which can roughly estimate the approximate value Ι1 of the tail rudder electric cylinder shaft extension length. Step 2: Calculate the correction value Ι2 for the extension length of the tail rudder plate electric cylinder shaft based on the platform pitch velocity ω, pitch acceleration α, and correction parameter λ, where Ι2 = g(ω, α, λ); calculate the correction value Ι2 for the extension length of the tail rudder plate electric cylinder shaft using the third-order Runge-Kutta integration method with a fixed integration step size. Step 3: Calculate the theoretical value of the current tail rudder electric cylinder shaft extension length I' = I1 + I2, and compare it with the actual value of the tail rudder electric cylinder shaft extension length I. Step 4: If the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, the attitude control unit controls the tail rudder motor cylinder shaft to adjust to the new target position I'; if the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is not greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, the tail rudder motor cylinder shaft action is not performed this time until the next correction cycle.

2. The adaptive attitude control method for an underwater towed platform as described in claim 1, characterized in that, The underwater towing platform described in this method also includes a heading and attitude measuring instrument, a Doppler log, a tail rudder electric cylinder, and an electric cylinder controller; the tail rudder electric cylinder extension shaft is rigidly connected to the tail rudder rotating shaft through a spherical hinge.

3. The adaptive attitude control method for an underwater towed platform as described in claim 2, characterized in that, Before performing step 1, the method further includes: receiving real-time attitude data of the underwater towed platform from the heading and attitude measuring instrument, including the platform pitch angle θ, pitch angular velocity ω, and pitch angular acceleration α; receiving real-time towing speed ν from the Doppler log; receiving operating conditions from the electric cylinder controller, including the extension length Ι of the tail rudder electric cylinder shaft; and receiving cable length data L, correction parameter λ, and allowable tolerance δ of the extension length δ of the tail rudder electric cylinder shaft issued by the mother ship navigation control computer.

4. The adaptive attitude control method for an underwater towed platform as described in claim 1, characterized in that, The attitude control unit database is stored in the memory of the underwater towed platform.

5. The adaptive attitude control method for an underwater towed platform as described in any one of claims 1-4, characterized in that, The attitude control unit autonomously corrects the tail rudder angle of attack once at fixed time intervals, and the extension length of the tail rudder electric cylinder shaft and the tail rudder angle of attack are related by a trigonometric function.

6. The adaptive attitude control method for an underwater towed platform as described in claim 5, characterized in that, Based on wave height and wave period data, the time interval for the attitude control unit to autonomously correct the tail rudder angle of attack is determined, thereby adjusting the platform attitude.

7. A control device for adaptive attitude of an underwater towed platform, characterized in that, It includes: The module for calculating the approximate extension length of the tail rudder electric cylinder shaft is used to obtain the pitch angle θ, towing speed ν, and cable length L of the underwater towed platform as input, and query the attitude control unit database for the corresponding approximate extension length Ι1 of the tail rudder electric cylinder shaft under this condition, where Ι1 = f(θ, ν, L). The attitude control unit database contains the attitude simulation results of the underwater towed platform, which can roughly estimate the approximate extension length Ι1 of the tail rudder electric cylinder shaft. The tail rudder plate electric cylinder shaft extension length correction value calculation module is used to calculate the tail rudder plate electric cylinder shaft extension length correction value I2 based on the platform pitch angular velocity ω, pitch angular acceleration α, and correction parameter λ, where I2 = g(ω, α, λ); the tail rudder plate electric cylinder shaft extension length correction value I2 is calculated using the third-order Runge-Kutta integration method with a fixed integration step size. The tail rudder plate electric cylinder shaft extension length actual value comparison module is used to calculate the current theoretical value of tail rudder plate electric cylinder shaft extension length I' = I1 + I2, and compare it with the actual value of tail rudder plate electric cylinder shaft extension length I. The tail rudder motor cylinder shaft correction module is used to determine whether the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length. If so, the attitude control unit controls the tail rudder motor cylinder shaft to adjust to the new target position I'. If the difference between the theoretical value I' of the tail rudder motor cylinder shaft extension length and the actual value I of the tail rudder motor cylinder shaft extension length is not greater than the allowable tolerance δ of the tail rudder motor cylinder shaft extension length, then the tail rudder motor cylinder shaft action is not performed in this cycle until the next correction cycle.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the adaptive attitude control method for an underwater towed platform as described in any one of claims 1 to 6.

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