A land-based method for evaluating the actual steering power consumption of an underwater vehicle.

Abstract

This invention discloses a land-based method for evaluating the actual steering power consumption of an underwater vehicle. The method includes: based on the relationship between the load on the underwater vehicle's control surfaces and the control angle during actual navigation, and combining the nominal rated power of the electric servo motor, its no-load power consumption, and the maximum control angle, a two-point method is used to fit the relationship between the current control angle and the current load-compensated power consumption; based on the measured control angle feedback at each test point, a load-compensated power consumption correction value is calculated, and the no-load power consumption is compensated to obtain the actual navigation power consumption under load. This method uses the simplest, most convenient, and lowest-cost approach to predict the actual navigation power consumption in a laboratory environment, overcoming the design difficulties of large deviations in land-based evaluations and the difficulty of obtaining data through actual navigation tests. It provides effective data support for project planning, selection phases, full-product electrical scheme design, instrument power consumption prediction, power distribution, and the estimation of energy consumption throughout the vehicle's journey.

Description

Technical Field

[0001] This invention relates to the field of electrical technology, and in particular to a land-based method for evaluating the power consumption of underwater vehicles during actual navigation and steering. Background Technology

[0002] The navigation control principle of underwater vehicles is as follows Figure 1 As shown, the electric servo motor is the control actuator. Steering is the action and process by which the aircraft's decision-making body sends commands to the electric servo motor to drive the control surfaces to deflect, utilizing the hydrodynamic forces on the control surfaces to control navigation and maneuvering. Because the electric servo motor needs to overcome the hydrodynamic resistance of the control surfaces during steering, a significant amount of electrical energy needs to be converted into mechanical energy. Therefore, steering actions inevitably result in substantial power consumption throughout the entire navigation process. Consequently, the power supply for steering is the largest power consumer among all instrument power supplies in the entire product line, second only to propulsion power consumption. Therefore, accurately assessing the actual steering power consumption and energy consumption during flight is an essential and crucial step in the overall electrical design process.

[0003] Real-world steering power consumption assessment is inseparable from real-world steering mode analysis. During real-world steering, the primary cause of steering maneuvers is change in the sailing attitude angle. Since the servo motor's operating frequency band is typically more than five times that of the vehicle's motion frequency band, differences in steering speed generally do not cause significant differences in the vehicle's attitude change. Therefore, steering characteristics do not affect steering commands. Taking real-world data from a small underwater vehicle as an example... Figure 2 , Figure 3 The figures show the roll angle and roll channel rudder command curves at speeds of 4 knots and 7.5 knots, respectively. The continuous low-frequency jitter in the roll channel causes changes in the roll channel rudder commands. The jitter frequency and amplitude of the roll angle increase significantly with increasing speed. In the stability control execution stage, this translates to higher frequency and larger amplitude steering maneuvers for roll correction, thus increasing the power consumption and energy consumption of steering. Based on the data analysis of the two voyages, to maintain the stability of the aircraft's roll channel, the average steering power consumption is 4W at 4 knots and 21W at 7.5 knots. Therefore, the actual steering power consumption in actual navigation depends heavily on the navigation control steering requirements, and not solely on the power consumption characteristics of the electric servo motor itself.

[0004] Conventionally, obtaining actual flight steering power consumption data can only be achieved through flight testing. Land-based testing of electric servo motors only includes performance tests such as static, dynamic, and polarity tests. The steering modes differ significantly from actual flight testing, making the steering power consumption incomparable. Flight testing is too costly and difficult to implement; sometimes, size and weight limitations prevent the installation of voltage and current acquisition and recording devices. Furthermore, flight testing has a significant time lag compared to the design and selection phases. Therefore, it is difficult to use for steering power consumption assessment during the design and selection stages. Evaluating actual flight steering power consumption has always been a challenging aspect of instrument power supply evaluation. The conventional approach is to use a rough estimate based on "servo motor rated power consumption × PWM signal duty cycle × number of servos," which is significantly higher than the actual flight steering power consumption. When the aircraft's size and weight are limited, and long-endurance requirements must be met, this rough estimation method increases the design complexity of secondary power supplies and energy batteries, directly impacting the overall electrical design of the entire product.

[0005] The technical problem to be solved by this invention is how to obtain steering power consumption close to that of actual flight in a laboratory environment. Summary of the Invention

[0006] In view of the above-mentioned problems existing in the prior art, the present invention provides a land-based method for evaluating the actual steering power consumption of underwater vehicles. This method breaks through the conventional land-based testing method for steering power consumption. By using the method of "actual navigation command feedback + load power consumption compensation" in a laboratory environment to test the steering power consumption, the test results are made as close as possible to the actual steering power consumption. This enables the prediction of actual steering power consumption in a laboratory environment, and provides a more powerful evaluation basis for instrument power allocation and long-endurance energy consumption demand analysis in the project planning and selection stages.

[0007] This invention provides a land-based method for evaluating the actual steering power consumption of an underwater vehicle, comprising:

[0008] Based on the relationship between the actual rudder surface load and rudder angle of the underwater vehicle, and combined with the nominal rated power, no-load power consumption and maximum rudder angle of the electric servo motor, the relationship between the current rudder angle and the current load compensation power consumption is fitted using the two-point method.

[0009] The load power consumption correction value is calculated based on the measured rudder angle feedback at each test point, and the no-load power consumption is compensated to obtain the actual load steering power consumption.

[0010] In some embodiments of the present invention, the relationship between the actual rudder surface load and the rudder angle is directly proportional.

[0011] In some embodiments of the present invention, the no-load power consumption is determined based on the voltage and current data of the power supply during steering;

[0012] The relationship between the current rudder angle and the current load-compensated power consumption is shown in the following formula:

[0013] ΔP t =(P e -P0) / δ max ×δ t

[0014] In the formula:

[0015] P e —Rated power consumption, in watts (W);

[0016] P0 — No-load power consumption, in watts;

[0017] δ max —Maximum rudder angle, in degrees;

[0018] δ t —Current rudder angle, in degrees;

[0019] ΔP t —Current load-compensated power consumption.

[0020] In some embodiments of the present invention, the method further includes:

[0021] Select steering commands from historical flight data using testing equipment and save them as a command file;

[0022] Start the data acquisition device to enter the voltage and current acquisition state and start data acquisition and storage.

[0023] Power on the electric servo motor;

[0024] The test equipment reads the instruction file, the control cycle issues steering commands to drive the electric servo motor, and records the servo feedback information in real time.

[0025] The data acquisition device records the collected data in real time;

[0026] The electric servo motor is powered off after the instruction file is executed;

[0027] Calculate the no-load steering power consumption based on the voltage and current collected values;

[0028] The load power consumption correction value is calculated based on the measured rudder angle feedback at each test point, and the no-load power consumption is compensated to obtain the load steering power consumption.

[0029] Perform data processing to calculate average steering power consumption.

[0030] Compared with existing technologies, the beneficial effects of the land-based evaluation method for the actual steering power consumption of underwater vehicles provided in this invention are as follows: It uses the simplest, most convenient, and lowest-cost method to predict the actual steering power consumption in a laboratory environment, overcoming the design difficulties of large deviations in land-based evaluations of actual steering power consumption and the difficulty in obtaining data from actual flight tests. This provides effective data support for the design of electrical schemes for all products during project planning and selection phases, instrument power consumption prediction, power distribution, and energy consumption estimation for the entire flight of the underwater vehicle. The method of "actual flight command feedback + load power consumption compensation" for steering power consumption testing breaks the previous design convention that land-based tests could not accurately evaluate actual steering power consumption and that it could only be obtained through actual flight tests. This method is simpler, more convenient, and lower in cost, possessing originality and excellent feasibility. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the navigation control principle of an underwater vehicle in the prior art.

[0032] Figure 2 The roll angle curve of the underwater vehicle in the prior art during 4kn navigation.

[0033] Figure 3 The roll angle curve for a 7.5kn underwater vehicle in the prior art.

[0034] Figure 4 A schematic diagram of the test platform in the land-based evaluation method for the actual steering power consumption of underwater vehicles provided by this invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Various embodiments and features of this application are described herein with reference to the accompanying drawings.

[0037] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0038] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0039] The above and other aspects, features and advantages of this application will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0040] Specific embodiments of this application are described below with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this application, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to ascertain the true intent based on the user's historical operations, and to avoid unnecessary or redundant details that would obscure this application. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as the basis and representative basis for the claims to teach those skilled in the art to use this application in various ways with substantially any suitable detailed structure.

[0041] This specification may use the phrases “in one embodiment,” “in another embodiment,” “in yet another embodiment,” or “in other embodiments,” all of which may refer to one or more of the same or different embodiments according to this application.

[0042] This invention provides a land-based method for evaluating the actual steering power consumption of underwater vehicles. Specifically, through analysis of navigation data from multiple types of underwater vehicles, it is found that when the power consumption characteristics of the servo motor are constant, the most direct influencing factors on the actual steering power consumption are the steering commands and the control surface load. Therefore, to obtain power consumption data that most closely approximates actual steering, it is necessary to first establish steering behavior that approximates actual control. Thus, this invention proposes a testing method using "actual steering command feedback + load power consumption compensation" to estimate the actual steering power consumption.

[0043] This invention provides a land-based method for evaluating the actual steering power consumption of an underwater vehicle, employing a method of feeding back steering command data from similar projects for steering control, as detailed below:

[0044] Based on the relationship between the actual rudder surface load and rudder angle of the underwater vehicle, and combined with the nominal rated power, no-load power consumption and maximum rudder angle of the electric servo motor, the relationship between the current rudder angle and the current load compensation power consumption is fitted using the two-point method.

[0045] The load power consumption correction value is calculated based on the measured rudder angle feedback at each test point, and the no-load power consumption is compensated to obtain the actual load steering power consumption.

[0046] In this embodiment, the relationship between the actual control surface load and the control angle is set to a direct proportional relationship in order to obtain the actual control power consumption of the electric servo motor under load, and thus approximately assume that the actual control surface load and the control angle are directly proportional.

[0047] Furthermore, in this embodiment, the no-load power consumption is determined based on the voltage and current data of the power supply during steering. That is, by collecting the voltage and current data of the power supply during steering, an approximate actual airborne steering power consumption can be obtained.

[0048] Based on the rated power consumption, no-load power consumption, and maximum rudder angle of the electric servo motor, a formula for the ratio of the current rudder angle to the load-compensated power consumption can be fitted using a two-point method. Specifically, the relationship between the current rudder angle and the current load-compensated power consumption is shown in the following formula:

[0049] ΔP t =(P e -P0) / δ max ×δ t

[0050] In the formula:

[0051] P e —Rated power consumption, in watts (W);

[0052] P0 — No-load power consumption, in watts;

[0053] δ max —Maximum rudder angle, in degrees;

[0054] δ t —Current rudder angle, in degrees;

[0055] ΔP t —Current load-compensated power consumption.

[0056] In some embodiments of the present invention, the method further includes the following steps:

[0057] Step 1: According to the appendix Figure 4 The connection method shown is used to connect the test equipment, data acquisition device, and electric servo motor;

[0058] Step 2: Select steering commands from historical flight data using testing equipment and save them as a command file;

[0059] Step 3: Start the data acquisition device, enter the voltage and current acquisition state, and start data acquisition and storage;

[0060] Step 4: Power on the electric servo motor;

[0061] Step 5: Read the instruction file through the test equipment, control the cycle to issue steering commands to drive the electric servo motor, and record the servo feedback information in real time;

[0062] Step 6: The data acquisition device records the acquired data in real time;

[0063] Step 7: After the instruction file is executed, the electric servo motor is powered off;

[0064] Step 8: Calculate the no-load steering power consumption based on the voltage and current collected values;

[0065] Step 9: Calculate the load power consumption correction value based on the measured rudder angle feedback at each test point, compensate for the no-load power consumption, and obtain the load steering power consumption.

[0066] Step 10: Perform data processing to calculate average steering power consumption.

[0067] As can be seen from the above technical solutions, the land-based evaluation method for the actual steering power consumption of underwater vehicles provided in the above embodiments of the present invention uses the simplest, most convenient, and lowest-cost method to predict the actual steering power consumption in a laboratory environment. This overcomes the design difficulties of large deviations in land-based evaluations of actual steering power consumption and the difficulty of obtaining data through actual flight tests. It provides effective data support for the design of electrical schemes for all products in the project planning and selection stages, instrument power consumption prediction, power distribution, and energy consumption estimation for the entire flight of the underwater vehicle. The method of "actual flight command feedback + load power consumption compensation" for steering power consumption testing breaks the previous design convention that land-based tests could not accurately evaluate actual steering power consumption and that it could only be obtained through actual flight tests. This method is simpler, more convenient, and lower in cost, and has originality and good feasibility.

[0068] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A land-based method for evaluating the actual steering power consumption of an underwater vehicle, characterized in that, include: Based on the relationship between the actual rudder surface load and rudder angle of the underwater vehicle, and combined with the nominal rated power, no-load power consumption and maximum rudder angle of the electric servo motor, the relationship between the current rudder angle and the current load compensation power consumption is fitted using the two-point method. The load power consumption correction value is calculated based on the measured rudder angle feedback at each test point, and the no-load power consumption is compensated to obtain the actual load steering power consumption. The relationship between the actual rudder surface load and the rudder angle is directly proportional. The no-load power consumption is determined based on the voltage and current data of the power supply during steering. The relationship between the current rudder angle and the current load-compensated power consumption is shown in the following formula: ΔP t =(P e -P0) / d max ×d t In the formula: P e —Rated power consumption, in watts (W); P0 — No-load power consumption, in watts; δ max —Maximum rudder angle, in degrees; δ t —Current rudder angle, in degrees; ΔP t —Current load-compensated power consumption.

2. The method for evaluating the actual steering power consumption of an underwater vehicle on land according to claim 1, characterized in that, The method further includes: Select steering commands from historical flight data using testing equipment and save them as a command file; Start the data acquisition device to enter the voltage and current acquisition state and start data acquisition and storage. Power on the electric servo motor; The test equipment reads the instruction file, and the control cycle issues steering commands to drive the electric servo motor to work, and records the servo feedback information in real time. The data acquisition device records the collected data in real time; The electric servo motor is powered off after the instruction file is executed; Calculate the no-load steering power consumption based on the voltage and current collected values; The load power consumption correction value is calculated based on the measured rudder angle feedback at each test point, and the no-load power consumption is compensated to obtain the load steering power consumption. Perform data processing to calculate average steering power consumption.

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