X-rudder underwater vehicle anti-roll control method and system based on linear quadratic regulator

Abstract

The invention discloses an X-rudder underwater vehicle anti-roll control method and system based on a linear quadratic regulator, and belongs to the technical field of underwater unmanned vehicle roll and stern rudder control. Comprising the following steps: collecting a measurement signal of underwater vehicle measurement equipment to obtain attitude data of an underwater unmanned vehicle; defining and numbering each rudder blade of the X rudder of the underwater vehicle; establishing an underwater vehicle motion model; according to a state equation of an underwater vehicle motion model and the attitude data of the underwater unmanned vehicle, establishing a linear quadratic regulator control model, and based on the linear quadratic regulator control model, obtaining an expected heeling moment, an expected yaw moment and an expected heeling moment of the control model; and establishing a rudder force distribution model of the underwater vehicle, and obtaining an expected rudder angle of a rudder blade of the underwater vehicle based on the obtained expected longitudinal tilting moment, yaw moment and transverse tilting moment of the control model.

Description

Technical Field

[0001] The invention belongs to the technical field of rolling and stern rudder control of underwater unmanned vehicles, and in particular relates to an anti-rolling control method and system of an X-rudder underwater vehicle based on a linear quadratic regulator. Background Art

[0002] The value of underwater vehicles is mainly reflected in military uses such as oceanographic surveys, hydrological and meteorological surveys, marine environment monitoring and measurement, seabed topography exploration and mapping, intelligence / surveillance / reconnaissance, anti-mine and anti-submarine warfare. The control accuracy of underwater vehicles is the basic technology and core technology for completing mission tasks, especially for tracking and control tasks such as maneuvering target tracking, time-sensitive target strikes, and cluster coordinated formations.

[0003] Compared with cross-rudder underwater vehicles, X-rudder underwater vehicles have the characteristics of high safety, good maneuverability, high reliability, high rudder efficiency and low noise. Therefore, X-rudder underwater vehicles have been used by navies and scientific research institutions in more and more countries. Any movement of its X-rudder control surface will affect its roll, pitch and yaw. Although the control characteristics of X-rudder underwater vehicles are complex, they greatly improve the maneuverability, controllability and fault tolerance.

[0004] During the operation of the propeller of the unmanned underwater vehicle, a rolling moment around the X-axis will be generated on the vehicle, which will affect the operation of the vehicle and cause navigation deviation; in addition, there are other different disturbances that affect the roll of the vehicle. For X-rudder control, there is a method that performs longitudinal plane control calculations, horizontal plane control calculations, and roll control calculations based on sensor data, and then performs rudder angle distribution calculations to distribute the control torque to the four rudder surfaces to obtain the steering angle, but the proposed controller essentially uses the PID algorithm. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention proposes an anti-roll control method and system for an X-rudder underwater vehicle based on a linear quadratic regulator, which mainly includes: an attitude control algorithm and a rudder force distribution algorithm to effectively solve the rolling torque generated by the propeller of the underwater vehicle and other current disturbances.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An anti-roll control method for an X-rudder underwater vehicle based on a linear quadratic regulator comprises the following steps:

[0008] S1, collecting measurement signals of underwater vehicle measurement equipment to obtain underwater unmanned vehicle attitude data;

[0009] S2. Define and number each rudder blade of the underwater vehicle X rudder;

[0010] S3, establishing a motion model of the underwater vehicle;

[0011] S4, establishing a linear quadratic regulator control model according to the state equation of the underwater vehicle motion model and the underwater unmanned vehicle attitude data, and obtaining the expected pitch moment, expected yaw moment and expected roll moment of the control model based on the linear quadratic regulation control model;

[0012] S5. Establishing a rudder force distribution model for the underwater vehicle, and obtaining a desired rudder angle of the rudder blade of the underwater vehicle based on the obtained desired pitch moment, yaw moment and heel moment of the control model.

[0013] Preferably, in S3, the method for establishing the underwater vehicle motion model comprises:

[0014]

[0015] Among them, is the acceleration coefficient, Y v , Y r , Z ω , Z q 、M w 、M q 、N v 、N r is the first-order hydrodynamic coefficient, X uu , K qq is the second-order hydrodynamic coefficient, X t The hydrodynamic coefficient of the underwater vehicle's propeller, is the rudder force coefficient of the virtual elevator, is the rudder force coefficient of the virtual rudder, K T , K R They represent the rolling moment generated by the propeller of the underwater vehicle and the rolling moment generated by the X-rudder, u is the longitudinal speed of the underwater vehicle, is the longitudinal acceleration, |u| is the absolute value in the longitudinal direction, n is the propeller speed of the underwater vehicle, v is the lateral speed of the underwater vehicle, r is the bow angular velocity of the underwater vehicle, is the bow angular acceleration, w is the vertical velocity of the underwater vehicle, is the vertical acceleration of the underwater vehicle, q is the pitch angular velocity of the underwater vehicle, is the pitch angular acceleration of the underwater vehicle, |q| is the absolute value of the pitch angular velocity, δ M is the elevator value, δ N is the rudder value.

[0016] Preferably, in said S4, the state equations of the underwater vehicle motion model include: a vertical dynamics model, a horizontal dynamics model and a rolling dynamics model;

[0017] Among them, the vertical dynamics model is:

[0018]

[0019] in, is the vertical acceleration of the underwater vehicle, is the pitch acceleration, is the pitch velocity, ζ is the vertical position, is the vertical velocity, is the yaw speed, is the rolling speed;

[0020] The horizontal dynamics model is:

[0021]

[0022] The rolling dynamics model is:

[0023]

[0024] Preferably, in S4, the method of obtaining the desired pitch moment, the desired yaw moment and the desired roll moment of the control model based on the linear quadratic adjustment control model includes:

[0025]

[0026] Among them, ζ is the vertical position, ζ d is the desired vertical position, ψ d is the desired heading angle, is the desired roll angle, τ depth , τ r , τ roll are the expected pitch moment, expected yaw moment, and expected roll moment of the underwater vehicle, respectively, and k w , k q , k θ , k ζ , k v , k r , k ψ , k p , are the parameters of the linear quadratic regulator.

[0027] Preferably, in S5, the method of establishing an underwater vehicle rudder force distribution model, and obtaining a desired rudder angle of a rudder blade of the underwater vehicle based on the obtained desired pitch moment, yaw moment and heel moment of the control model comprises:

[0028] The rudder force distribution model is:

[0029]

[0030] a in the rudder force distribution model * is the rudder angle matrix, which is a 4*1 matrix:

[0031]

[0032] Among them, δ 1 , δ 2 , δ 3 , δ 4 are the rudder angles of the four rudder blades respectively;

[0033] B in the rudder force distribution model is:

[0034]

[0035] where k 1 , k 2 , k 3 , k 4 are the hydrodynamic coefficients of the four rudder blades, l is the distance from the rudder to the origin of the body coordinate system, ρ is the seawater density, A is the rudder surface area, U is the combined speed of the underwater vehicle, and l roll is the rolling arm of the underwater vehicle.

[0036] The present invention also provides an anti-roll control system for an X-rudder underwater vehicle based on a linear quadratic regulator, comprising: a data acquisition module, a predefined module, a model building module, a torque calculation module and a rudder angle calculation module;

[0037] The data acquisition module is used to collect measurement signals of underwater vehicle measurement equipment to obtain underwater unmanned vehicle attitude data;

[0038] The predefined module is used to define and number each rudder blade of the underwater vehicle X rudder;

[0039] The model building module is used to establish a motion model of the underwater vehicle;

[0040] The torque calculation module is used to establish a linear quadratic regulator control model according to the state equation of the underwater vehicle motion model and the underwater unmanned vehicle attitude data, and obtain the expected pitch moment, expected yaw moment and expected roll moment of the control model based on the linear quadratic regulation control model;

[0041] The rudder angle calculation module is used to establish a rudder force distribution model for the underwater vehicle, and obtain the desired rudder angle of the rudder blade of the underwater vehicle based on the desired pitch moment, yaw moment and heel moment of the obtained control model.

[0042] Preferably, in the model building module, the process of establishing the underwater vehicle motion model includes:

[0043]

[0044] Among them, is the acceleration coefficient, Y v , Y r , Z w , Z q 、M w 、M q 、N v 、N r is the first-order hydrodynamic coefficient, X uu , K qq is the second-order hydrodynamic coefficient, X t The hydrodynamic coefficient of the propeller of the underwater vehicle, is the rudder force coefficient of the virtual elevator, is the rudder force coefficient of the virtual rudder, K T , K R They represent the rolling moment generated by the propeller of the underwater vehicle and the rolling moment generated by the X-rudder, u is the longitudinal speed of the underwater vehicle, is the longitudinal acceleration, |u| is the absolute value in the longitudinal direction, n is the propeller speed of the underwater vehicle, u is the lateral speed of the underwater vehicle, r is the bow angular velocity of the underwater vehicle, is the bow angular acceleration, ω is the vertical velocity of the underwater vehicle, is the vertical acceleration of the underwater vehicle, q is the pitch angular velocity of the underwater vehicle, is the pitch angular acceleration of the underwater vehicle, |q| is the absolute value of the pitch angular velocity, δ M is the elevator value, δ N is the rudder value.

[0045] Preferably, in the torque calculation module, the state equation of the underwater vehicle motion model includes: a vertical dynamics model, a horizontal dynamics model and a rolling dynamics model;

[0046] Among them, the vertical dynamics model is:

[0047]

[0048] in, is the vertical acceleration of the underwater vehicle, is the pitch acceleration, is the pitch velocity, ζ is the vertical position, is the vertical velocity, is the yaw speed, is the rolling speed;

[0049] The horizontal dynamics model is:

[0050]

[0051] The rolling dynamics model is:

[0052]

[0053] Preferably, in the moment calculation module, the process of obtaining the desired pitch moment, the desired yaw moment and the desired roll moment of the control model based on the linear quadratic adjustment control model includes:

[0054]

[0055] Among them, ζ is the vertical position, ζ d is the desired vertical position, ψ d is the desired heading angle, is the desired roll angle, τ depth , τ r , τ roll are the expected pitch moment, expected yaw moment, and expected roll moment of the underwater vehicle, respectively, and k ω , k q , k θ , k ζ , k υ , k r , k ψ , k p , are the parameters of the linear quadratic regulator.

[0056] Preferably, in the rudder angle calculation module, a rudder force distribution model for the underwater vehicle is established, and based on the obtained desired pitch moment, yaw moment and heel moment of the control model, a process of obtaining the desired rudder angle of the rudder blade of the underwater vehicle comprises:

[0057] The rudder force distribution model is:

[0058]

[0059] a in the rudder force distribution model * is the rudder angle matrix, which is a 4*1 matrix:

[0060]

[0061] Among them, δ 1 , δ 2 , δ 3 , δ 4 are the rudder angles of the four rudder blades respectively;

[0062] B in the rudder force distribution model is:

[0063]

[0064] where k 1 , k 2 , k 3 , k 4 are the hydrodynamic coefficients of the four rudder blades, l is the distance from the rudder to the origin of the body coordinate system, ρ is the seawater density, A is the rudder surface area, U is the combined speed of the underwater vehicle, and l roll is the rolling arm of the underwater vehicle.

[0065] Compared with the prior art, the present invention has the following beneficial effects:

[0066] The anti-roll control method and system of the X-rudder underwater vehicle based on the linear quadratic regulator adopted by the present invention can design a stable and robust controller, which is of great significance for applications such as underwater vehicles that require stable motion;

[0067] The anti-roll control method and system of the X-rudder underwater vehicle based on the linear quadratic regulator adopted by the present invention can take into account both the stability of the system and the ability to suppress disturbances in the design stage by optimizing the weight matrix of the controller.

[0068] The invention adopts an X-rudder underwater vehicle anti-roll control method and system based on a linear quadratic regulator, which utilizes the characteristics of the X-rudder to generate a corresponding torque to make the underwater vehicle roll at a stable angle, thereby improving the anti-disturbance capability of the underwater vehicle and ensuring the navigation safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0070] Figure 1 It is a schematic flow chart of an anti-roll control method for an X-rudder underwater vehicle based on a linear quadratic regulator according to an embodiment of the present invention;

[0071] Figure 2 This is a schematic diagram of the X-rudder numbering method according to an embodiment of the present invention;

[0072] Figure 3 Schematic diagram of the numbering and positive and negative definitions of X rudders in an embodiment of the present invention;

[0073] Figure 4 Schematic diagram of an inertial coordinate system and a body coordinate system according to an embodiment of the present invention;

[0074] Figure 5 This is a flow chart of a pseudo-inverse control allocation algorithm according to an embodiment of the present invention. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0077] Embodiment 1

[0078] like Figure 1 As shown, the present invention provides an anti-roll control method for an X-rudder underwater vehicle based on a linear quadratic regulator, comprising the following steps:

[0079] S1, collecting measurement signals of underwater vehicle measurement equipment to obtain underwater unmanned vehicle attitude data;

[0080] The underwater vehicle measurement equipment collects the underwater vehicle's sensor attitude data, including roll Pitch θ, rotation ψ.

[0081] S2. Define and number each rudder blade of the underwater vehicle X rudder;

[0082] Each rudder blade of the X-rudder underwater vehicle is numbered and its positive and negative signs are defined. The numbering is defined as follows: Figure 2 As shown, the rudder blades of the X-rudder are numbered as rudder 1, rudder 2, rudder 3 and rudder 4 respectively, so as to facilitate the subsequent accurate control and adaptive distribution of the rudder angle.

[0083] Furthermore, in this embodiment, a pseudo-inverse matrix allocation strategy is constructed (S5 will be described in detail). When the four-rudder allocation strategy is adopted, the four rudder surfaces of the X-rudder are precisely controlled in the follow-up and automatic modes to achieve effective control of the X-rudder underwater platform. In the process of constructing the pseudo-inverse matrix, it is necessary to define the positive and negative signs of the X-rudder of the underwater vehicle, such as Figure 3As shown, the equivalent stern rudder δ of the underwater vehicle is obtained M , equivalent rudder δ N and equivalent rolling rudder δ R , the equivalent stern rudder δ M , equivalent rudder δ N and equivalent rolling rudder δ R for:

[0084]

[0085] S3, establishing a motion model of the underwater vehicle;

[0086] For the underwater vehicle motion model in S3, two coordinate systems are established: an inertial coordinate system and a body coordinate system, such as Figure 4 As shown, including:

[0087] In the inertial coordinate system, the origin is selected at a specific point on the sea level according to the actual mission situation. The axis and the horizontal plane are set at the same sea level and form a 90° angle with each other. The axis and the horizontal plane point perpendicularly to the center of the earth. The three coordinate axes form a right-handed rectangular coordinate system. In the body coordinate system, the motion coordinate system is often defined as the carrier coordinate system, and its origin is generally selected at the center of gravity of the underwater vehicle; the longitudinal axis is consistent with the bow direction of the main symmetry axis of the underwater vehicle, the starboard side of the underwater vehicle is the positive direction of the horizontal axis and is parallel to the base surface, and the vertical axis is located in the vertical plane of the plane, and the positive direction is below the underwater vehicle.

[0088] In order to facilitate the subsequent research, the relevant parameters and motions of the underwater vehicle are defined as shown in Table 1:

[0089] Table 1

[0090]

[0091]

[0092] Based on the Newton-Euler formula and Lagrange formula of rigid body, the kinematic and dynamic models of the circulator are established:

[0093]

[0094] Where M represents the additional mass matrix, v is the velocity vector in the body coordinate system, is the acceleration vector in the body coordinate system, η is the unified vector of position and attitude in the fixed coordinate system, is the velocity in the fixed coordinate system, C(v) is the Coriolis and centripetal matrix, D(v) is the damping matrix, g(η) is the gravity and buoyancy vector, τ is the input control force and torque, d is the time-varying unknown disturbance, J(η) is the Jacobian rotation matrix of η and ν, and is the transformation matrix between the inertial coordinate system and the body coordinate system;

[0095] A six-degree-of-freedom kinematic model and a dynamic model in three-dimensional space are established; the six-degree-of-freedom kinematic model is:

[0096]

[0097] The kinematic model is an auxiliary equation of the dynamic model. For example, the velocity term in the dynamic equation can be calculated using the formula in the kinematic equation.

[0098] The first-order dynamic model of underwater vehicle is:

[0099]

[0100] Among them, is the acceleration coefficient, Y v , Y y , Z ω , Z q 、M w 、M q 、N v 、N r is the first-order hydrodynamic coefficient, X uu , K qq is the second-order hydrodynamic coefficient, X t The hydrodynamic coefficient of the underwater vehicle's propeller, is the rudder force coefficient of the virtual elevator, is the rudder force coefficient of the virtual rudder, K T , K R They represent the rolling moment generated by the propeller of the underwater vehicle and the rolling moment generated by the X-rudder, u is the longitudinal speed of the underwater vehicle, is the longitudinal acceleration, |u| is the absolute value in the longitudinal direction, n is the propeller speed of the underwater vehicle, v is the lateral speed of the underwater vehicle, r is the bow angular velocity of the underwater vehicle, is the bow angular acceleration, w is the vertical velocity of the underwater vehicle, is the vertical acceleration of the underwater vehicle, q is the pitch angular velocity of the underwater vehicle, is the pitch angular acceleration of the underwater vehicle, |q| is the absolute value of the pitch angular velocity, δ M is the elevator value, δ N is the rudder value.

[0101] S4, establishing a linear quadratic regulator control model according to the state equation of the underwater vehicle motion model and the underwater unmanned vehicle attitude data, and obtaining the expected pitch moment, expected yaw moment and expected roll moment of the control model based on the linear quadratic regulation control model;

[0102] In said S4, the state equations of the underwater vehicle motion model include: a vertical dynamics model, a horizontal dynamics model and a rolling dynamics model;

[0103] Among them, the state space equation of the vertical dynamics model is:

[0104]

[0105] is the vertical acceleration of the underwater vehicle, is the pitch acceleration, is the pitch velocity, is the vertical position, is the vertical velocity, is the yaw speed, is the rolling speed.

[0106] The state space equations of the horizontal dynamics model are:

[0107]

[0108] The state space equation of the rolling dynamics model is:

[0109]

[0110] Based on the state space equation and the underwater vehicle attitude data, the linear quadratic regulator control model is obtained as follows:

[0111]

[0112] In S4, based on the state space equations of the vertical, horizontal and rolling motions, the linear quadratic regulator control model is obtained, including:

[0113]

[0114] Among them, ζ is the vertical position, ζ d is the desired vertical position, ψ d is the desired heading angle, is the desired roll angle, τ depth , τ r , τ roll are the expected pitch moment, expected yaw moment, and expected roll moment of the underwater vehicle, respectively, and k ω , kq , k θ , k ζ , k υ , k r , k ψ , k p , are the parameters of the linear quadratic regulator.

[0115] like Figure 5 As shown, S5, establishing a rudder force distribution model for the underwater vehicle, and obtaining a desired rudder angle of the rudder blade of the underwater vehicle based on the desired pitch moment, yaw moment and heel moment of the obtained control model.

[0116] In said S5, a rudder force distribution model of the underwater vehicle is established, and based on the expected pitch moment, yaw moment and heel moment obtained by said control model, the expected rudder angles of rudder 1, rudder 2, rudder 3 and rudder 4 of the underwater vehicle are obtained;

[0117] The rudder force distribution model in S5 Figure 5 This is the flow chart of the pseudo-inverse control allocation algorithm. The model is:

[0118]

[0119] a in the rudder force distribution model * is the rudder angle matrix, which is a 4*1 matrix:

[0120]

[0121] δ 1 , δ 2 , δ 3 , δ 4 They are the rudder angles of rudder 1, rudder 2, rudder 3, and rudder 4 respectively.

[0122] B in the rudder force distribution model is:

[0123]

[0124] where k 1 , k 2 , k 3 , k 4 are the hydrodynamic coefficients of rudder 1, rudder 2, rudder 3, and rudder 4, respectively; l is the distance from the rudder to the origin of the body coordinate system; ρ is the seawater density; A is the rudder surface area; U is the combined speed of the underwater vehicle; l roll is the rolling arm of the underwater vehicle.

[0125] Embodiment 2

[0126] The present invention also provides an anti-roll control system for an X-rudder underwater vehicle based on a linear quadratic regulator, comprising: a data acquisition module, a predefined module, a model building module, a torque calculation module and a rudder angle calculation module;

[0127] The data acquisition module is used to collect the measurement signals of the underwater vehicle measurement equipment to obtain the underwater unmanned vehicle attitude data;

[0128] The predefined module is used to define and number each rudder blade of the underwater vehicle X rudder;

[0129] The model building module is used to build the underwater vehicle motion model;

[0130] The torque calculation module is used to establish a linear quadratic regulator control model according to the state equation of the underwater vehicle motion model and the underwater unmanned vehicle attitude data, and obtain the expected pitch moment, expected yaw moment and expected roll moment of the control model based on the linear quadratic regulation control model;

[0131] The rudder angle calculation module is used to establish a rudder force distribution model for the underwater vehicle, and obtain the desired rudder angle of the rudder blade of the underwater vehicle based on the desired pitch moment, yaw moment and heel moment of the control model obtained.

[0132] In this embodiment, in the model building module, the process of establishing the underwater vehicle motion model includes:

[0133]

[0134] Among them, is the acceleration coefficient, Y v , Y y , Z ω , Z q 、M w 、M q 、N v 、N r is the first-order hydrodynamic coefficient, X uu , K qq is the second-order hydrodynamic coefficient, X t The hydrodynamic coefficient of the propeller of the underwater vehicle, is the rudder force coefficient of the virtual elevator, is the rudder force coefficient of the virtual rudder, K T , K R They represent the rolling moment generated by the propeller of the underwater vehicle and the rolling moment generated by the X-rudder, u is the longitudinal speed of the underwater vehicle, is the longitudinal acceleration, |u| is the absolute value in the longitudinal direction, n is the propeller speed of the underwater vehicle, v is the lateral speed of the underwater vehicle, r is the bow angular velocity of the underwater vehicle, is the bow angular acceleration, w is the vertical velocity of the underwater vehicle, is the vertical acceleration of the underwater vehicle, q is the pitch angular velocity of the underwater vehicle, is the pitch angular acceleration of the underwater vehicle, |q| is the absolute value of the pitch angular velocity, δ M is the elevator value, δ N is the rudder value.

[0135] In this embodiment, in the torque calculation module, the state equations of the underwater vehicle motion model include: a vertical dynamics model, a horizontal dynamics model, and a rolling dynamics model;

[0136] Among them, the vertical dynamics model is:

[0137]

[0138] in, is the vertical acceleration of the underwater vehicle, is the pitch acceleration, is the pitch speed, ζ is the vertical position, is the vertical velocity, is the yaw speed, is the rolling speed;

[0139] The horizontal dynamics model is:

[0140]

[0141] The rolling dynamics model is:

[0142]

[0143] In this embodiment, in the moment calculation module, the process of obtaining the desired pitch moment, the desired yaw moment and the desired roll moment of the control model based on the linear quadratic adjustment control model includes:

[0144]

[0145] Among them, ζ is the vertical position, ζ d is the desired vertical position, ψ d is the desired heading angle, is the desired roll angle, τ depth , τ r , τ roll are the expected pitch moment, expected yaw moment, and expected roll moment of the underwater vehicle, respectively, and k w , k q , k θ, k ζ , k v , k r , k ψ , k p , are the parameters of the linear quadratic regulator.

[0146] In this embodiment, in the rudder angle calculation module, a rudder force distribution model for the underwater vehicle is established, and based on the obtained desired pitch moment, yaw moment and heel moment of the control model, a process of obtaining the desired rudder angle of the rudder blade of the underwater vehicle includes:

[0147] The rudder force distribution model is:

[0148]

[0149] a in the rudder force distribution model * is the rudder angle matrix, which is a 4*1 matrix:

[0150]

[0151] Among them, δ 1 , δ 2 , δ 3 , δ 4 are the rudder angles of the four rudder blades respectively;

[0152] B in the rudder force distribution model is:

[0153]

[0154] where k 1 , k 2 , k 3 , k 4 are the hydrodynamic coefficients of the four rudder blades, l is the distance from the rudder to the origin of the body coordinate system, ρ is the seawater density, A is the rudder surface area, U is the combined speed of the underwater vehicle, and l roll is the rolling arm of the underwater vehicle.

[0155] The embodiments described above are only descriptions of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An anti-roll control method for an X-rudder underwater vehicle based on a linear quadratic regulator, characterized in that: The following steps are involved: S1, collecting measurement signals of underwater vehicle measurement equipment to obtain underwater unmanned vehicle attitude data; S2. Define and number each rudder blade of the underwater vehicle X rudder; S3, establishing a motion model of the underwater vehicle; S4, establishing a linear quadratic regulator control model according to the state equation of the underwater vehicle motion model and the underwater unmanned vehicle attitude data, and obtaining the expected pitch moment, expected yaw moment and expected roll moment of the control model based on the linear quadratic regulation control model; S5. Establishing a rudder force distribution model for the underwater vehicle, and obtaining a desired rudder angle of the rudder blade of the underwater vehicle based on the obtained desired pitch moment, yaw moment and heel moment of the control model.

2. The anti-roll control method of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 1, characterized in that: In S3, the method for establishing the underwater vehicle motion model includes: Among them, is the acceleration coefficient, Y v , Y r , Z ω , Z q 、M w 、M q 、N v 、N r is the first-order hydrodynamic coefficient, X uu , K qq is the second-order hydrodynamic coefficient, X t The hydrodynamic coefficient of the propeller of the underwater vehicle, is the rudder force coefficient of the virtual elevator, is the rudder force coefficient of the virtual rudder, K T , K R They represent the rolling moment generated by the propeller of the underwater vehicle and the rolling moment generated by the X-rudder, u is the longitudinal speed of the underwater vehicle, is the longitudinal acceleration, |u| is the absolute value in the longitudinal direction, n is the propeller speed of the underwater vehicle, v is the lateral speed of the underwater vehicle, r is the bow angular velocity of the underwater vehicle, is the bow angular acceleration, ω is the vertical velocity of the underwater vehicle, is the vertical acceleration of the underwater vehicle, q is the pitch angular velocity of the underwater vehicle, is the pitch angular acceleration of the underwater vehicle, |q| is the absolute value of the pitch angular velocity, δ M is the elevator value, δ N is the rudder value.

3. The anti-roll control method of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 2 is characterized in that: In S3, the state equations of the underwater vehicle motion model include: a vertical dynamics model, a horizontal dynamics model and a rolling dynamics model; Among them, the vertical dynamics model is: in, is the vertical acceleration of the underwater vehicle, is the pitch acceleration, is the pitch velocity, ζ is the vertical position, is the vertical speed, is the yaw speed, is the rolling speed; The horizontal dynamics model is: The rolling dynamics model is:

4. The anti-roll control method of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 3 is characterized in that: In S4, based on the linear quadratic adjustment control model, the method for obtaining the desired pitch moment, the desired yaw moment and the desired roll moment of the control model includes: Among them, ζ is the vertical position, ζ d is the desired vertical position, ψ d is the desired heading angle, is the desired roll angle, τ depth , τ r , τ roll are the expected pitch moment, expected yaw moment, and expected roll moment of the underwater vehicle, respectively, and k ω , k q , k θ , k ζ , k υ , k r , k ψ , k p , are the parameters of the linear quadratic regulator.

5. The anti-roll control method of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 4 is characterized in that: In S5, the method of establishing a rudder force distribution model for the underwater vehicle and obtaining a desired rudder angle of the rudder blade of the underwater vehicle based on the desired pitch moment, yaw moment and heel moment of the control model obtained includes: The rudder force distribution model is: a in the rudder force distribution model * is the rudder angle matrix, which is a 4*1 matrix: Among them, δ1, δ2, δ3, and δ4 are the rudder angles of the four rudder blades respectively; B in the rudder force distribution model is: Where k1, k2, k3, k4 are the hydrodynamic coefficients of the four rudder blades, l is the distance from the rudder to the origin of the body coordinate system, ρ is the seawater density, A is the rudder surface area, U is the combined speed of the underwater vehicle, l roll is the rolling arm of the underwater vehicle.

6. An anti-roll control system for an X-rudder underwater vehicle based on a linear quadratic regulator, characterized in that: include: Data acquisition module, predefined module, model building module, moment calculation module and rudder angle calculation module; The data acquisition module is used to collect measurement signals of underwater vehicle measurement equipment to obtain underwater unmanned vehicle attitude data; The predefined module is used to define and number each rudder blade of the underwater vehicle X rudder; The model building module is used to establish a motion model of the underwater vehicle; The torque calculation module is used to establish a linear quadratic regulator control model according to the state equation of the underwater vehicle motion model and the underwater unmanned vehicle attitude data, and obtain the expected pitch moment, expected yaw moment and expected roll moment of the control model based on the linear quadratic regulation control model; The rudder angle calculation module is used to establish a rudder force distribution model for the underwater vehicle, and obtain the desired rudder angle of the rudder blade of the underwater vehicle based on the desired pitch moment, yaw moment and heel moment of the obtained control model.

7. The anti-roll control system of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 6, characterized in that: In the model building module, the process of establishing the underwater vehicle motion model includes: Among them, is the acceleration coefficient, Y v , Y r , Z ω , Z q 、M w 、M q 、N v 、N r is the first-order hydrodynamic coefficient, X uu , K qq is the second-order hydrodynamic coefficient, X t The hydrodynamic coefficient of the propeller of the underwater vehicle, is the rudder force coefficient of the virtual elevator, is the rudder force coefficient of the virtual rudder, K T , K R They represent the rolling moment generated by the propeller of the underwater vehicle and the rolling moment generated by the X-rudder, u is the longitudinal speed of the underwater vehicle, is the longitudinal acceleration, |u| is the absolute value in the longitudinal direction, n is the propeller speed of the underwater vehicle, v is the lateral speed of the underwater vehicle, r is the bow angular velocity of the underwater vehicle, is the bow angular acceleration, ω is the vertical velocity of the underwater vehicle, is the vertical acceleration of the underwater vehicle, q is the pitch angular velocity of the underwater vehicle, is the pitch angular acceleration of the underwater vehicle, |q| is the absolute value of the pitch angular velocity, δ M is the elevator value, δ N is the rudder value.

8. The anti-roll control system of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 7, characterized in that: In the torque calculation module, the state equations of the underwater vehicle motion model include: a vertical dynamics model, a horizontal dynamics model and a rolling dynamics model; Among them, the vertical dynamics model is: in, is the vertical acceleration of the underwater vehicle, is the pitch acceleration, is the pitch velocity, ζ is the vertical position, is the vertical speed, is the yaw speed, is the rolling speed; The horizontal dynamics model is: The rolling dynamics model is:

9. The anti-roll control system of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 8, characterized in that: In the moment calculation module, the process of obtaining the desired pitch moment, the desired yaw moment and the desired roll moment of the control model based on the linear quadratic adjustment control model includes: Among them, ζ is the vertical position, ζ d is the desired vertical position, ψ d is the desired heading angle, is the desired roll angle, τ depth , τ r , τ roll are the expected pitch moment, expected yaw moment, and expected roll moment of the underwater vehicle, respectively, and k w , k q , k θ , k ζ , k v , k r , k ψ , k p , are the parameters of the linear quadratic regulator.

10. The anti-roll control system of an X-rudder underwater vehicle based on a linear quadratic regulator according to claim 9, characterized in that: In the rudder angle calculation module, a rudder force distribution model for the underwater vehicle is established, and based on the obtained desired pitch moment, yaw moment and heel moment of the control model, a process of obtaining the desired rudder angle of the rudder blade of the underwater vehicle includes: The rudder force distribution model is: a in the rudder force distribution model * is the rudder angle matrix, which is a 4*1 matrix: Among them, δ1, δ2, δ3, and δ4 are the rudder angles of the four rudder blades respectively; B in the rudder force distribution model is: Where k1, k2, k3, k4 are the hydrodynamic coefficients of the four rudder blades, l is the distance from the rudder to the origin of the body coordinate system, ρ is the seawater density, A is the rudder surface area, U is the combined speed of the underwater vehicle, l roll is the rolling arm of the underwater vehicle.

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