A vector power propulsion system and control method for a cross-domain vehicle

Abstract

The application discloses a kind of vector power propulsion systems and control method for cross-domain vehicle.The propulsion shell of system is installed at the rear end of cross-domain vehicle, and two propellers are located on the symmetrical two sides of the rear end of cross-domain vehicle.The oil tank is connected to the propeller by the oil pump, the inlet end of the proportional overflow valve is connected between the oil pump and the oil circuit of the propeller, and the outlet end is connected to the oil tank.The method comprises the following steps: establishing a propulsion system control model under two motion modes, inputting a preset input quantity, and outputting the control quantity of the system;establishing a pose model, inputting the control quantity of the system, and outputting the pose output quantity of the vehicle;controlling the system to run through the control quantity of the system, so that the vehicle moves under the pose output quantity, and realizes the control of the system.The vector power propulsion system takes into account the forward and reverse movement and steering movement in the horizontal dimension and the lift and dive movement in the vertical dimension, so that the vehicle has the cross-domain function of surface navigation and underwater navigation, and improves the motion flexibility and environmental adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of vector power propulsion system, it relates to intelligent automatic equipment technical field, specifically a kind of vector power propulsion system and control method for cross-domain vehicle. BACKGROUND

[0002] Surface unmanned vehicle is an important carrier to carry out marine tasks, and plays an important role in military and civilian fields. Conventional surface unmanned vehicles have the disadvantages of small displacement, shallow draft and poor seakeeping ability. In severe sea conditions, it is easy to overturn and difficult to navigate safely or even survive. Compared with conventional surface unmanned vehicles, cross-domain unmanned vehicles can switch between surface navigation and underwater diving according to the marine environment, and can balance the speed, safety and concealment of unmanned vehicles, which has very important research value and significance.

[0003] The power propulsion system is the main means to change the heading and speed of the unmanned vehicle during navigation. The power propulsion system of the conventional surface unmanned vehicle can only drive the motion state of the unmanned vehicle in the horizontal dimension, and cannot meet the requirements of driving the horizontal motion and vertical diving of the cross-domain vehicle.

[0004] In summary, a cross-domain vehicle vector power propulsion system integrating an effective control strategy is needed to simultaneously realize the horizontal and vertical motion modes of the cross-domain vehicle, so as to have good motion flexibility and environmental adaptability. SUMMARY

[0005] To solve the problems in the background art, the present application provides a vector power propulsion system and control method for cross-domain vehicle, including a vector power propulsion system hardware scheme, a switching method for surface navigation and underwater diving motion mode of the vector power propulsion system, and a motion control method of the vector power propulsion system.

[0006] The technical solution adopted by the present application is:

[0007] I. A vector power propulsion system for cross-domain vehicle:

[0008] The vector power propulsion system includes an oil tank, an oil pump, a proportional overflow valve, two propellers and a propulsion shell. The oil tank, oil pump and proportional overflow valve are installed in the propulsion shell, the propulsion shell is installed at the rear end of the cross-domain vehicle, and the two propellers are respectively located on the symmetrical two sides of the rear end of the cross-domain vehicle. The oil tank is connected to the first propeller and the second propeller through the oil pump, the inlet end of the proportional overflow valve is connected between the oil pump and the oil line connected to the first propeller and the second propeller, and the outlet end of the proportional overflow valve is connected to the oil tank. Under the drive of the oil pump, hydraulic oil is pumped out from the oil tank and passes through the filter, and one way flows back to the oil tank through the proportional overflow valve for pressure regulation.

[0009] The propeller comprises a proportional directional valve, an oil cylinder, an engine, a connecting rod and a propeller, an oil pump is connected to the rodless cavity and the rod cavity of the oil cylinder of the two propellers respectively through a proportional overflow valve, the proportional directional valve is located on the oil circuit between the proportional overflow valve and the oil cylinder of the propeller, the hydraulic oil in the oil tank is pumped out by the oil pump and then flows to the inlet end of the proportional overflow valve and the inlet end of the proportional directional valve respectively, the hydraulic oil flows back to the oil tank from the outlet end of the proportional overflow valve, the first inlet and outlet end of the proportional directional valve is connected to the rod cavity of the oil cylinder, the outlet end of the proportional directional valve is connected to the oil tank, and the second inlet and outlet end of the proportional directional valve is connected to the rodless cavity of the oil cylinder; the piston rod of the oil cylinder is vertically downwardly connected to one end of the connecting rod, the other end of the connecting rod is connected to the middle part of the body of the engine, the end of the body of the engine away from the output shaft of the engine is connected to the propeller shell, the output shaft of the engine is synchronously connected to the center of the propeller, and the propeller faces the rear of the cross-domain vehicle; the engines and the propellers of the two propellers are respectively located on the symmetric two sides of the rear end of the cross-domain vehicle.

[0010] When the proportional directional valve works at the left position, the hydraulic oil pumped out from the oil tank flows to the rodless cavity of the oil cylinder through the proportional directional valve and drives the piston rod of the oil cylinder to displace downwardly, under the driving of the piston rod, the hydraulic oil in the rod cavity of the oil cylinder flows back to the oil tank through the proportional directional valve, at this time, under the driving of the piston rod and the connecting rod, the propeller swings downwardly; when the proportional directional valve works at the right position, the hydraulic oil pumped out from the oil tank flows to the rod cavity of the oil cylinder through the proportional directional valve and drives the piston rod of the oil cylinder to displace upwardly, under the driving of the piston rod, the hydraulic oil in the rodless cavity of the oil cylinder flows back to the oil tank through the proportional directional valve, at this time, under the driving of the piston rod and the connecting rod, the propeller swings upwardly.

[0011] The vector power propulsion system drives the whole hydraulic system by pumping the hydraulic oil from the oil tank through the oil pump in hardware, the left and right propellers are connected with the piston rods of the left and right oil cylinders through the left and right connecting rods respectively, the displacement of the piston rods of the left and right oil cylinders is controlled by controlling the opening direction and size of the proportional directional valve, and the left and right propellers swing up and down at corresponding angles under the displacement driving of the piston rods; the left and right engines respectively drive the left and right propellers to rotate, the rotation speed of the left and right propellers is respectively adjusted by controlling the left and right engines, so that the cross-domain vehicle can be switched between the water surface navigation and underwater diving two motion modes, on the basis of hardware, the motion control method of the vector power propulsion system is proposed, and the complex motion actions of the cross-domain vehicle during the water surface navigation and underwater diving are realized.

[0012] II. A control method of a vector power propulsion system for a cross-domain vehicle:

[0013] The method comprises the following steps:

[0014] Step one: respectively establish the propulsion system control model of the cross-domain vehicle in two motion modes, including the surface navigation motion mode and the underwater diving motion mode, input the preset input of the cross-domain vehicle into the propulsion system control model in two motion modes, and the propulsion system control model in two motion modes outputs the control quantity of the vector power propulsion system.

[0015] Step two: respectively establish the pose model of the cross-domain vehicle in two motion modes, input the control quantity of the vector power propulsion system in two motion modes into the pose model in two motion modes, and the pose model in two motion modes outputs the pose output of the cross-domain vehicle in two motion modes, and the control quantity of the vector power propulsion system in two motion modes is used as the vector driving force to control the vector power propulsion system to run, so that the cross-domain vehicle moves in the pose output of two motion modes, and the control of the vector power propulsion system for the cross-domain vehicle is realized.

[0016] When the cross-domain vehicle is in the surface navigation mode, the left and right propellers of the vector power propulsion system swing to the horizontal position, and the vector power propulsion system realizes the forward and reverse and turning actions in the horizontal dimension by adjusting the rotating speed of the left and right propellers; when the cross-domain vehicle is in the underwater diving mode, the vector power propulsion system realizes the diving and ascending actions in the vertical dimension and the forward and reverse actions in the horizontal dimension by adjusting the up and down swing angle of the left and right propellers and the rotating speed of the left and right propellers.

[0017] In step one, the propulsion system control model of the cross-domain vehicle in the surface navigation motion mode is as follows:

[0018]

[0019]

[0020] d1=d 1mid

[0021] d2=d 2mid

[0022] Wherein, s1 and s2 respectively represent the rotating speed of the propeller of the two propellers, s max represents the maximum value of the rotating speed of the propellers of the two propellers; P u and P umax respectively represent the preset forward and reverse rocker input of the cross-domain vehicle and the maximum value thereof; P r and P rmax respectively represent the preset steering wheel rudder input of the cross-domain vehicle and the maximum value thereof; d1 and d2 respectively represent the displacement of the piston rod of the oil cylinder of the two propellers, d 1mid and d 2midrespectively represent the mid-position of the piston rod of the oil cylinder of the two propellers, i.e. the center axis of the propeller and the output shaft of the engine are located on the same straight line and parallel to the forward direction of the cross-domain vehicle, the displacement of the piston rod when the propeller is swung to the horizontal position.

[0023] The preset input quantity of the cross-domain vehicle in the water surface navigation movement mode includes preset advancing and retreating rocker input quantity P u and preset steering wheel rudder input quantity P r of the cross-domain vehicle.

[0024] In the water surface navigation movement mode, the piston rod of the left and right oil cylinders of the vector power propulsion system is in the mid-position, the left and right propellers are swung to the horizontal position, and only the advancing and retreating rocker input quantity and the steering wheel rudder input quantity are responded, the cross-domain vehicle only has advancing and retreating and turning two movement actions, wherein the advancing and retreating rocker input quantity determines the sum of the rotation speeds of the left and right propellers, and the steering wheel rudder input quantity determines the difference between the rotation speeds of the left and right propellers.

[0025] The control model of the propulsion system of the cross-domain vehicle in the underwater diving movement mode in step one is specifically as follows:

[0026]

[0027]

[0028]

[0029]

[0030] Wherein, s1 and s2 respectively represent the rotation speeds of the propellers of the two propellers, s max max represents the maximum value of the rotation speeds of the propellers of the two propellers; P u and P umax respectively represent the preset advancing and retreating rocker input quantity and the maximum value thereof of the cross-domain vehicle; d1 and d2 respectively represent the displacements of the piston rods of the oil cylinders of the two propellers, d 1mid and d 2mid respectively represent the mid-position of the piston rod of the oil cylinder of the two propellers; l1 and l2 respectively represent the length of the connecting rod and the straight line distance between the hinge points of the two engine bodies; P w and P wmax respectively represent the preset advancing and retreating rocker input quantity and the maximum value thereof of the cross-domain vehicle.

[0031] The preset input quantity of the cross-domain vehicle in the underwater diving movement mode includes preset advancing and retreating rocker input quantity P uand preset diving rocker input amount P w The control amount of the vector power propulsion system in the underwater diving motion mode includes the rotating speeds s1 and s2 of the propellers of the two propellers and the displacements d1 and d2 of the piston rods of the oil cylinders of the two propellers.

[0032] In the underwater diving motion mode, the vector power propulsion system responds to the advance-retreat rocker input amount and the diving rocker input amount, and the cross-domain vehicle simultaneously has the advance-retreat and diving two motion actions.

[0033] The pose model of the cross-domain vehicle in the water surface navigation motion mode in step two is specifically as follows:

[0034]

[0035]

[0036]

[0037] wherein, denotes the differential of the pose output amount X of the cross-domain vehicle in the water surface navigation motion mode, X = [x, y, z, θ], x, y and z respectively represent the three-axis coordinates of the cross-domain vehicle in the earth coordinate system, and θ represents the attitude angle of the cross-domain vehicle around the z-axis of the earth coordinate system; R(θ) represents the conversion matrix of the ship body coordinate system of the cross-domain vehicle to the earth coordinate system; V and respectively represent the velocity vector and the differential of the cross-domain vehicle in the ship body coordinate system, V = [u, v, w, r] T , u, v, w and r respectively represent the surge, sway, heave and yaw velocities of the cross-domain vehicle in the ship body coordinate system; M represents the inertia matrix including the added mass; C represents the Coriolis force and centripetal force matrix; D represents the damping matrix; τ represents the thrust and torque vector provided by the vector power propulsion system, and the elements thereof from top to bottom are the surge thrust, the sway thrust, the heave thrust and the yaw torque in turn.

[0038] The thrust and torque vector τ provided by the vector power propulsion system is specifically as follows:

[0039] τ = [k (|s1|s1 + |s2|s2), 0, 0, kl(|s1|s1 - |s2|s2)] T

[0040] wherein, k represents the thrust coefficient of the propeller; l represents the distance between the propeller end and the ship body center of mass of the cross-domain vehicle in the sway direction; s1 and s2 respectively represent the rotating speeds of the propellers of the two propellers.

[0041] The control quantity of the pose model input of the cross-domain vehicle in the water surface navigation movement mode includes the rotating speeds s1 and s2 of the propellers of the two propellers.

[0042] The pose model of the cross-domain vehicle in the underwater diving movement mode is as follows:

[0043]

[0044]

[0045]

[0046] wherein, represents the differential of the pose output quantity X of the cross-domain vehicle in the underwater diving movement mode, X = [x, y, z, theta], x, y and z respectively represent the three-axis coordinates of the cross-domain vehicle in the earth coordinate system, and theta represents the attitude angle of the cross-domain vehicle around the z-axis of the earth coordinate system; R(theta) represents the conversion matrix of the ship body coordinate system of the cross-domain vehicle to the earth coordinate system; V and respectively represent the velocity vector of the cross-domain vehicle in the ship body coordinate system and the differential thereof, V = [u, v, w, r] T , u, v, w and r respectively represent the surge, sway, heave and yaw velocities of the cross-domain vehicle in the ship body coordinate system; M represents the inertia matrix containing the added mass; C represents the Coriolis force and centripetal force matrix; D represents the damping matrix; and tau represents the thrust and torque vector provided by the vector dynamic propulsion system.

[0047] The thrust and torque vector tau provided by the vector dynamic propulsion system is as follows:

[0048]

[0049] wherein, k represents the thrust coefficient of the propeller; s1 represents the rotating speed of the propeller of the first propeller, i.e. the rotating speed of the propeller located on the left side of the forward direction; P w and P wmax respectively represent the preset diving rocker input quantity of the cross-domain vehicle and the maximum value thereof.

[0050] The control quantity of the pose model input of the cross-domain vehicle in the underwater diving movement mode includes the rotating speed S1 of the propeller of the first propeller.

[0051] The beneficial effects of the present application are as follows:

[0052] The vector power propulsion system of the application simultaneously considers the forward and backward movement and steering movement in the horizontal dimension and the ascending and diving movement in the vertical dimension of the unmanned vehicle, so that the cross-domain vehicle has the cross-domain function, the control of the cross-domain vehicle in the water surface navigation and underwater diving movement mode can be realized, the cross-domain vehicle can navigate on the water surface like a conventional unmanned vehicle and can dive underwater like a submarine, the motion flexibility and environmental adaptability of the vehicle are improved, and the application is wide. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 is a schematic diagram of the hardware structure of the vector power propulsion system;

[0054] Figure 2 is a schematic diagram of the water surface navigation mode control strategy of the vector power propulsion system, wherein a is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to straightly advance, b is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to straightly retreat, c is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to advance clockwise, d is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to retreat clockwise, e is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to retreat counterclockwise, and f is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to advance counterclockwise;

[0055] Figure 3 is a schematic diagram of the underwater diving mode control strategy of the vector power propulsion system, wherein a is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to horizontally advance, b is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to horizontally advance and vertically ascend, and c is a schematic diagram of the vector power propulsion system driving the cross-domain vehicle to horizontally advance and vertically dive;

[0056] In the figure: 1, oil tank, 2, oil pump, 3, proportional reversing valve, 4, proportional overflow valve, 5, oil cylinder, 6, engine, 7, connecting rod, 8, propeller. DETAILED DESCRIPTION

[0057] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0058] As Figure 1As shown, the vector power propulsion system for the cross-domain vehicle of the present application comprises an oil tank 1, an oil pump 2, a proportional overflow valve 4, two propellers and a propulsion shell, the oil tank 1, the oil pump 2 and the proportional overflow valve 4 are installed in the propulsion shell, the propulsion shell is installed at the rear end of the cross-domain vehicle, and the two propellers are respectively located on the symmetrical two sides of the rear end of the cross-domain vehicle; the oil tank 1 is communicated to the first propeller and the second propeller through the oil pump 2, the inlet end of the proportional overflow valve 4 is communicated between the oil circuit communicated by the oil pump 2 and the first propeller and the second propeller, and the outlet end of the proportional overflow valve 4 is communicated to the oil tank 1; under the drive of the oil pump 2, the hydraulic oil is pumped out from the oil tank 1 and passes through the filter, and flows back to the oil tank 1 through the proportional overflow valve 4 for pressure regulation.

[0059] The propeller comprises a proportional reversing valve 3, a cylinder 5, an engine 6, a connecting rod 7 and a propeller 8, the oil pump 2 is communicated to the rodless cavity and the rod cavity of the cylinder 5 of the two propellers after passing through the proportional overflow valve 4, the proportional reversing valve 3 is located on the oil circuit between the proportional overflow valve 4 and the cylinder 5 of the propeller, the hydraulic oil in the oil tank 1 is pumped out by the oil pump 2 and respectively flows to the inlet end of the proportional overflow valve 4 and the inlet end of the proportional reversing valve 3, the hydraulic oil flows back to the oil tank 1 from the outlet end of the proportional overflow valve 4, the first inlet and outlet end of the proportional reversing valve 3 is communicated to the rod cavity of the cylinder 5, the outlet end of the proportional reversing valve 3 is communicated to the oil tank 1, and the second inlet and outlet end of the proportional reversing valve 3 is communicated to the rodless cavity of the cylinder 5; the piston rod of the cylinder 5 is vertically downwardly hinged to one end of the connecting rod 7, the other end of the connecting rod 7 is hinged to the middle part of the body of the engine 6, the body of the engine 6 away from the output shaft thereof is hinged to the propulsion shell, the output shaft of the engine 6 is synchronously connected to the center of the propeller 8, and the propeller 8 faces the rear of the cross-domain vehicle; the engines 6 and the propellers 8 of the two propellers are respectively located on the symmetrical two sides of the rear end of the cross-domain vehicle.

[0060] When the proportional reversing valve 3 works in the left position, the hydraulic oil pumped out from the oil tank 1 flows to the rodless cavity of the cylinder 5 through the proportional reversing valve 3 and drives the piston rod of the cylinder 5 to displace downwardly, under the drive of the piston rod, the hydraulic oil in the rod cavity of the cylinder 5 flows back to the oil tank 1 through the proportional reversing valve 3, at this time, under the drive of the piston rod of the cylinder 5 and the connecting rod 7, the propeller 8 swings downwardly; when the proportional reversing valve 3 works in the right position, the hydraulic oil pumped out from the oil tank 1 flows to the rod cavity of the cylinder 5 through the proportional reversing valve 3 and drives the piston rod of the cylinder 5 to displace upwardly, under the drive of the piston rod, the hydraulic oil in the rodless cavity of the cylinder 5 flows back to the oil tank 1 through the proportional reversing valve 3, at this time, under the drive of the piston rod of the cylinder 5 and the connecting rod 7, the propeller 8 swings upwardly.

[0061] The vector power propulsion system drives the whole hydraulic system by pumping hydraulic oil from the oil tank 1 through the oil pump 2 in hardware, the left and right propellers 8 are connected with the piston rods of the left and right oil cylinders 7 through the left and right connecting rods 7 respectively, the displacement of the piston rods of the left and right oil cylinders 5 is controlled by controlling the opening direction and size of the proportional reversing valve 3, and the left and right propellers 8 swing up and down at corresponding angles respectively under the driving of the displacement of the piston rods; the left and right engines 6 drive the left and right propellers 8 to rotate respectively, the rotation speed of the left and right propellers 8 is adjusted respectively by controlling the left and right engines 6, so that the cross-domain vehicle can switch between the water surface navigation and underwater navigation two motion modes, on the basis of hardware, the motion control method of the vector power propulsion system is proposed, and the complex motion action of the cross-domain vehicle is realized when the cross-domain vehicle navigates on the water surface and dives underwater.

[0062] The control method of the vector power propulsion system of the application comprises the following steps:

[0063] Step one: respectively establish the propulsion system control model of the cross-domain vehicle in two motion modes, the two motion modes include the water surface navigation motion mode and the underwater navigation motion mode, input the preset input quantity of the cross-domain vehicle into the propulsion system control model in the two motion modes, and the propulsion system control model in the two motion modes respectively outputs the control quantity of the vector power propulsion system.

[0064] In step one, the propulsion system control model of the cross-domain vehicle in the water surface navigation motion mode is as follows:

[0065]

[0066]

[0067] d1=d 1mid

[0068] d2=d 2mid

[0069] Wherein, s1 and s2 respectively represent the rotation speed of the propeller 8 of the two propellers, s max represents the maximum value of the rotation speed of the propeller 8 of the two propellers; P u and P umax respectively represent the preset advance and retreat rocker input quantity of the cross-domain vehicle and the maximum value thereof; P r and P rmax respectively represent the preset steering wheel rudder input quantity of the cross-domain vehicle and the maximum value thereof; d1 and d2 respectively represent the displacement of the piston rod of the oil cylinder 5 of the two propellers, d 1mid and d 2midrespectively represent the mid-position of the piston rod of the oil cylinder 5 of the two propellers, i.e. the center axis of the propeller 8 and the output shaft of the engine 6 are in the same straight line and parallel to the forward direction of the cross-domain vehicle, and the displacement of the piston rod when the propeller 8 is swung to the horizontal position.

[0070] The preset input quantity of the cross-domain vehicle in the water surface navigation movement mode includes preset advance and retreat rocker input quantity P u and preset steering wheel rudder input quantity P r ; the control quantity of the vector power propulsion system in the water surface navigation movement mode includes the rotation speed s1 and s2 of the propellers of the two propellers and the displacement d1 and d2 of the piston rod of the oil cylinder 5 of the two propellers.

[0071] In the water surface navigation movement mode, the piston rod of the left and right oil cylinders 5 of the vector power propulsion system is in the mid-position, the left and right propellers 8 are swung to the horizontal position, and only the advance and retreat rocker input quantity and the steering wheel rudder input quantity are responded, and the cross-domain vehicle only has two movement actions of advancing and retreating and turning, wherein the advance and retreat rocker input quantity determines the sum of the rotation speeds of the left and right propellers, and the steering wheel rudder input quantity determines the difference between the rotation speeds of the left and right propellers.

[0072] In step one, the propulsion system control model of the cross-domain vehicle in the underwater diving movement mode is as follows:

[0073]

[0074]

[0075]

[0076]

[0077] Wherein, s1 and s2 respectively represent the rotation speed of the propeller 8 of the two propellers, s max represents the maximum value of the rotation speed of the propeller 8 of the two propellers; P u and P umax respectively represent the preset advance and retreat rocker input quantity of the cross-domain vehicle and the maximum value thereof; d1 and d2 respectively represent the displacement of the piston rod of the oil cylinder 5 of the two propellers, d 1mid and d 2mid respectively represent the mid-position of the piston rod of the oil cylinder 5 of the two propellers; l1 and l2 are respectively the length of the connecting rod 7 and the straight line distance between the hinge points of the two engine 6 bodies; P w and P wmax respectively represent the preset diving rocker input quantity of the cross-domain vehicle and the maximum value thereof.

[0078] The preset input quantity of the cross-domain vehicle in the underwater diving movement mode includes preset advance and retreat rocker input quantity Pu and preset diving rocker input amount P w The control amount of the vector power propulsion system in the underwater diving motion mode includes the rotation speeds s1 and s2 of the propellers of the two propellers and the displacements d1 and d2 of the piston rods of the oil cylinders 5 of the two propellers.

[0079] In the underwater diving motion mode, the vector power propulsion system responds to the advance-retreat rocker input amount and the diving rocker input amount, and the cross-domain vehicle simultaneously has the advance-retreat and diving two motion actions.

[0080] Step two: respectively establish the pose models of the cross-domain vehicle in the two motion modes, input the control amount of the vector power propulsion system in the two motion modes into the pose models in the two motion modes, and the pose models in the two motion modes respectively output the pose output amount of the cross-domain vehicle in the two motion modes, and through the control amount of the vector power propulsion system in the two motion modes, the vector power propulsion system is controlled to run, so that the cross-domain vehicle moves under the pose output amount in the two motion modes, and the control of the vector power propulsion system for the cross-domain vehicle is realized.

[0081] When the cross-domain vehicle is in the surface navigation mode, the left and right propellers of the vector power propulsion system swing to the horizontal position, and the vector power propulsion system realizes the advance-retreat and turning actions in the horizontal dimension by adjusting the rotation speeds of the left and right propellers; when the cross-domain vehicle is in the underwater diving mode, the vector power propulsion system realizes the diving action in the vertical dimension and the advance-retreat action in the horizontal dimension by adjusting the up-down swing angle of the left and right propellers and the rotation speeds of the left and right propellers.

[0082] In step two, the pose model of the cross-domain vehicle in the surface navigation motion mode is as follows:

[0083]

[0084]

[0085]

[0086] wherein, represents the differential of the pose output amount X of the cross-domain vehicle in the surface navigation motion mode, X = [x, y, z, θ], x, y and z respectively represent the three-axis coordinates of the cross-domain vehicle in the earth coordinate system, and θ represents the attitude angle of the cross-domain vehicle around the z axis of the earth coordinate system; R(θ) represents the conversion matrix of the ship body coordinate system of the cross-domain vehicle to the earth coordinate system; V and respectively represent the velocity vector and the differential of the cross-domain vehicle in the ship body coordinate system, V = [u, v, w, r] T, u, v, w and r represent the surge, sway, heave and yaw velocities of the transoceanic vehicle in the body-fixed coordinate system, respectively; M represents the inertia matrix including added mass; C represents the Coriolis and centripetal force matrix; D represents the damping matrix; and τ represents the thrust and moment vector provided by the vector dynamic propulsion system, the elements of which are the surge thrust, sway thrust, heave thrust and yaw moment from top to bottom, respectively.

[0087] The thrust and moment vector τ provided by the vector dynamic propulsion system is specifically as follows:

[0088] τ = [k(|s1|s1+|s2|s2), 0, 0, kl(|s1|s1- |s2|s2)] T

[0089] wherein k represents the thrust coefficient of the propeller 8; l represents the distance between the end of the propeller 8 and the center of mass of the body of the transoceanic vehicle in the sway direction; and s1 and s2 represent the rotational speeds of the propellers 8 of the two propellers, respectively.

[0090] The control quantity inputted in the pose model of the transoceanic vehicle in the water surface navigation mode includes the rotational speeds s1 and s2 of the propellers 8 of the two propellers.

[0091] In step two, the pose model of the transoceanic vehicle in the underwater diving mode is specifically as follows:

[0092]

[0093]

[0094]

[0095] wherein represents the differential of the pose output X of the transoceanic vehicle in the underwater diving mode, X = [x, y, z, θ], x, y and z represent the three-axis coordinates of the transoceanic vehicle in the earth coordinate system, respectively, and θ represents the attitude angle of the transoceanic vehicle around the z axis of the earth coordinate system; R(θ) represents the conversion matrix from the body coordinate system of the transoceanic vehicle to the earth coordinate system; V and represent the velocity vector and its differential of the transoceanic vehicle in the body coordinate system, respectively, V = [u, v, w, r] T , u, v, w and r represent the surge, sway, heave and yaw velocities of the transoceanic vehicle in the body-fixed coordinate system, respectively; M represents the inertia matrix including added mass; C represents the Coriolis and centripetal force matrix; D represents the damping matrix; and τ represents the thrust and moment vector provided by the vector dynamic propulsion system.

[0096] The thrust and moment vector τ provided by the vector dynamic propulsion system is specifically as follows:

[0097]

[0098] Where k represents the thrust coefficient of propeller 8; s1 represents the rotational speed of the first propeller 8, that is, the rotational speed of the propeller 8 located on the left side of the forward direction; P w and P wmax These represent the preset ascent / descent joystick input and its maximum value for the cross-domain vehicle, respectively.

[0099] The control inputs to the pose model of the cross-domain vehicle in underwater submerged motion mode include the rotational speed s1 of the propeller 8 of the first thruster.

[0100] like Figure 2 The diagram shows the surface navigation control strategy of a vector propulsion system. The size and direction of the hollow arrows represent the magnitude and direction of the force exerted by the vector propulsion system on the water, respectively, while the size and direction of the solid arrows represent the magnitude and direction of the speed of the trans-domain vehicle. When the trans-domain vehicle is in surface navigation mode, the piston rods of the left and right cylinders are in the neutral position. Driven by the displacement of the piston rods, the left and right propellers of the vector propulsion system swing to a horizontal position. The vector propulsion system responds to the input of the advance / retreat joystick and the rudder input of the steering wheel, adjusting the speed of the left and right propellers through a mapping relationship to achieve horizontal advance / retreat and steering movements; as shown... Figure 2 As shown in a, when P r =0, P u If s1 = s2 > 0, then s1 = s2 > 0, and the trans-domain vehicle moves forward in a straight line; for example... Figure 2 As shown in b, when P r =0, P u <0, at this time s1=s2<0, the trans-domain vehicle moves backward in a straight line; such as Figure 2 c and Figure 2 As shown in d, when P r When s1-s2>0, the transdomain vehicle turns clockwise; for example... Figure 2 e and Figure 2 As shown in f, when P r When s1-s2 < 0, the trans-domain vehicle turns counterclockwise.

[0101] like Figure 3 The diagram shows the control strategy for the underwater submersible mode of a vector propulsion system. The size and direction of the hollow arrows represent the magnitude and direction of the force exerted by the vector propulsion system on the water, respectively, while the size and direction of the solid arrows represent the magnitude and direction of the speed of the trans-domain vehicle. When the trans-domain vehicle is in underwater submersible mode, the vector propulsion system responds to the inputs of the advance / retreat joystick and the ascent / dive joystick, adjusting the rotational speed and oscillation angle of the left and right propellers through a mapping relationship to achieve advance / retreat and ascent / dive maneuvers; for example... Figure 3 As shown in a, when Pu >0, P w = 0, at this time d1 = d2 = d mid , left and right propellers swing to the horizontal position, the striding vehicle realizes the forward action in the horizontal dimension; as shown in a of FIG. Figure 3 >0, P u >0, P w <0, at this time d1 = d2 < d mid , left and right propellers swing downward, the striding vehicle realizes the forward action in the horizontal dimension and the ascending action in the vertical dimension at the same time; as shown in c of FIG. Figure 3 >0, P u >0, P w >0, at this time d1 = d2 > d mid , left and right propellers swing upward, the striding vehicle realizes the forward action in the horizontal dimension and the diving action in the vertical dimension at the same time.

Claims

1. A control method for a vector propulsion system for a cross-domain vehicle, wherein the vector propulsion system for the cross-domain vehicle includes a fuel tank (1), a fuel pump (2), a proportional relief valve (4), two thrusters, and a propulsion housing. The fuel tank (1), the fuel pump (2), and the proportional relief valve (4) are installed inside the propulsion housing, which is installed at the rear end of the cross-domain vehicle. The two thrusters are located on symmetrical sides at the rear end of the cross-domain vehicle. The fuel tank (1) is connected to the first thruster and the second thruster via the fuel pump (2). The inlet end of the proportional relief valve (4) is connected between the fuel pump (2) and the fuel line connecting the first thruster and the second thruster, and the outlet end of the proportional relief valve (4) is connected to the fuel tank (1). The thruster includes a proportional directional valve (3), a cylinder (5), an engine (6), a connecting rod (7), and a propeller (8). The fuel pump (2) is connected to the rodless chamber and the rod chamber of the cylinder (5) of the two thrusters via the proportional relief valve (4). The proportional directional valve (3) is located at the proportional relief valve (4). 4) In the oil line between the hydraulic cylinder (5) and the thruster, the hydraulic oil in the tank (1) is pumped out by the oil pump (2) and flows to the inlet end of the proportional relief valve (4) and the inlet end of the proportional directional valve (3) respectively. The hydraulic oil flows back to the tank (1) from the outlet end of the proportional relief valve (4). The first inlet and outlet ends of the proportional directional valve (3) are connected to the rod chamber of the cylinder (5). The outlet end of the proportional directional valve (3) is connected to the tank (1). The second inlet and outlet ends of the proportional directional valve (3) are connected to the cylinder (5). The piston rod of the cylinder (5) is vertically hinged downward to one end of the connecting rod (7), and the other end of the connecting rod (7) is hinged to the middle of the fuselage of the engine (6). The end of the fuselage of the engine (6) away from its own output shaft is hinged to the propulsion shell. The output shaft of the engine (6) is synchronously connected to the center of the propeller (8). The propeller (8) faces the rear of the transoceanic vehicle. The engines (6) and propellers (8) of the two propellers are located on the symmetrical sides of the rear end of the transoceanic vehicle. The characteristic of the engine (6) and propeller (8) of the two propellers is: The method includes the following steps: Step 1: Establish propulsion system control models for the cross-domain vehicle in two motion modes, including surface navigation and underwater submersion. Input the preset inputs of the cross-domain vehicle into the propulsion system control models for the two motion modes respectively. The propulsion system control models for the two motion modes respectively output the control quantities of the vector propulsion system. Step 2: Establish pose models of the cross-domain vehicle in two motion modes respectively. Input the control quantities of the vector propulsion system in the two motion modes into the pose models in the two motion modes respectively. The pose models in the two motion modes output the pose output quantities of the cross-domain vehicle in the two motion modes respectively. Use the control quantities of the vector propulsion system in the two motion modes as vector driving force to control the operation of the vector propulsion system, so that the cross-domain vehicle moves under the pose output quantities in the two motion modes, and realize the control of the vector propulsion system for the cross-domain vehicle. In step one, the propulsion system control model of the cross-domain vehicle in the surface navigation mode is as follows: in, and These represent the rotational speeds of the propellers (8) of the two thrusters, respectively. This indicates the maximum rotational speed of the propellers (8) of the two thrusters; and These represent the preset forward / backward joystick input values ​​and their maximum values ​​for the cross-domain navigation vehicle; and These represent the preset steering wheel input value and its maximum value for the cross-domain vehicle, respectively. and These represent the displacements of the piston rods of the hydraulic cylinders (5) of the two thrusters, respectively. and These represent the midpoints of the displacements of the piston rods of the two thrusters' cylinders (5); The preset input values ​​for the cross-domain vehicle in surface navigation mode include the preset forward and backward joystick input values ​​for the cross-domain vehicle. and preset steering wheel input amount The control variables for the vector propulsion system in surface navigation mode include the rotational speeds of the propellers of both thrusters. and And the displacement of the piston rods of the hydraulic cylinders (5) of the two thrusters. and .

2. The control method for a vector propulsion system for a trans-domain vehicle according to claim 1, characterized in that: In step one, the propulsion system control model of the cross-domain vehicle in underwater submerged motion mode is as follows: in, and These represent the rotational speeds of the propellers (8) of the two thrusters, respectively. This indicates the maximum rotational speed of the propellers (8) of the two thrusters; and These represent the preset forward / backward joystick input values ​​and their maximum values ​​for the cross-domain navigation vehicle; and These represent the displacements of the piston rods of the hydraulic cylinders (5) of the two thrusters, respectively. and These represent the midpoints of the displacements of the piston rods of the two thrusters' cylinders (5); and These are the length of the connecting rod (7) and the straight-line distance between the hinge points of the two engine (6) fuselages, respectively; and These represent the preset ascent / submersion joystick input value and its maximum value for the cross-domain vehicle, respectively. The preset input values ​​for the cross-domain vehicle in underwater submersible movement mode include the preset forward and backward joystick input values ​​for the cross-domain vehicle. and preset rise / fall joystick input amount The control variables for the vector propulsion system in underwater submerged motion mode include the rotational speeds of the propellers of both thrusters. and And the displacement of the piston rods of the hydraulic cylinders (5) of the two thrusters. and .

3. The control method for a vector propulsion system for a trans-domain vehicle according to claim 1, characterized in that: In step two, the pose model of the cross-domain vehicle in the surface navigation motion mode is as follows: in, This represents the pose output of a cross-domain vehicle in its surface navigation motion mode. The differential, = , , and These represent the three axes of the transdomain vehicle in the Earth coordinate system. Represents the coordinates of a trans-domain vehicle orbiting the Earth. The attitude angle of the axis; The transformation matrix from the ship's coordinate system to the Earth coordinate system for a trans-domain vehicle; and Let represent the velocity vector of the trans-domain vehicle in the ship's coordinate system and its derivative, respectively. , , , and These represent the sway, roll, heave, and bow velocities of the transoceanic vehicle in the ship's coordinate system, respectively. This represents the inertia matrix including the added mass; Represents the matrix of Coriolis force and centripetal force; Represents the damping matrix; This represents the thrust and torque vectors provided by the vector propulsion system.

4. The control method for a vector propulsion system for a trans-domain vehicle according to claim 3, characterized in that: The thrust and torque vector provided by the vector propulsion system Specifically as follows: in, Indicates the thrust coefficient of the propeller (8); This indicates the distance between the end of the propeller (8) and the center of mass of the transoceanic vessel in the sway direction; and These represent the rotational speeds of the propellers (8) of the two thrusters, respectively; The control inputs to the pose model of the cross-domain vehicle in the surface navigation motion mode include the rotational speeds of the propellers (8) of the two thrusters. and .

5. The control method for a vector propulsion system for a trans-domain vehicle according to claim 1, characterized in that: In step two, the pose model of the cross-domain vehicle in underwater submerged motion mode is as follows: in, This represents the pose output of a cross-domain vehicle in underwater submerged motion mode. The differential, = , , and These represent the three axes of the transdomain vehicle in the Earth coordinate system. Represents the coordinates of a trans-domain vehicle orbiting the Earth. The attitude angle of the axis; The transformation matrix from the ship's coordinate system to the Earth coordinate system for a trans-domain vehicle; and Let represent the velocity vector of the trans-domain vehicle in the ship's coordinate system and its derivative, respectively. , , , and These represent the sway, roll, heave, and bow velocities of the transoceanic vehicle in the ship's coordinate system, respectively. This represents the inertia matrix including the added mass; Represents the matrix of Coriolis force and centripetal force; Represents the damping matrix; This represents the thrust and torque vectors provided by the vector propulsion system.

6. The control method for a vector propulsion system for a trans-domain vehicle according to claim 5, characterized in that: The thrust and torque vector provided by the vector propulsion system Specifically as follows: in, Indicates the thrust coefficient of the propeller (8); This indicates the rotational speed of the propeller (8) of the first thruster; and These represent the preset ascent / submersion joystick input value and its maximum value for the cross-domain vehicle, respectively. The control inputs to the pose model of the cross-domain vehicle in underwater submerged motion mode include the rotational speed of the propeller (8) of the first thruster. .

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