Hydrofoil gliding control method, device and cross-medium UAV

Abstract

The present invention relates to a hydrofoil gliding control method, device and a cross-media UAV. The immersion depth of the hydrofoil is obtained by a pressure sensor and a water level gauge installed on the hydrofoil, and the hydrofoil is kept at a given immersion depth by a designed control method, so that other components installed on the hydrofoil can be accurately placed above the water surface to reduce resistance. The propeller of the hydrofoil is kept below the water surface and the propeller blades are completely immersed, which can provide maximum thrust during gliding and realize the rapid gliding of the cross-media UAV on the water surface.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle control, and relates to a hydrofoil gliding control method, a device and a cross-medium unmanned aerial vehicle. Background Art

[0002] A cross-medium drone is a drone that can fly or move across different media (such as air and water). When a cross-medium drone enters water from air, it needs to consider the huge change in medium density. The density of water is about 800 times that of air. This type of drone usually has a special appearance design, and its propulsion system will also have a corresponding conversion mechanism in water, such as changing from propeller propulsion in the air to a more efficient propulsion method in water. When entering the air from water, the drone needs enough power to break through the surface tension of the water. Once in the air, its flight control system will quickly adjust its attitude to achieve air flight. However, for cross-medium drones with hydrofoils, how to achieve efficient hydrofoil gliding control, so as to achieve rapid gliding of cross-medium drones on the water surface, is still one of the technical problems to be solved. Summary of the invention

[0003] In view of the problems existing in the above-mentioned traditional technologies, the present invention proposes a hydrofoil gliding control method, a hydrofoil gliding control device and a cross-medium UAV, which can realize efficient hydrofoil gliding control.

[0004] In order to achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0005] On the one hand, a hydrofoil glide control method is provided, which is applied to a hydrofoil glide control device, the hydrofoil glide control device comprising an immersion depth controller, a roll attitude controller, a pitch attitude controller and a control distribution model unit, the input end of the immersion depth controller is used to access the immersion depth measured by the depth gauge on the hydrofoil, the input ends of the roll attitude controller and the pitch attitude controller are respectively used to connect to the remote controller of a cross-medium UAV, the output ends of the immersion depth controller and the roll attitude controller are connected to the input end of the control distribution model unit, the input end of the control distribution model unit is also used to access the throttle amount given by the remote controller, the output end of the pitch attitude controller is used to connect to the horizontal tail through the flight controller of the cross-medium UAV, the output end of the control distribution model unit is used to connect the hydrofoil and the underwater thruster, the immersion depth controller uses a proportional-integral controller plus a feedforward control scheme, and the pitch attitude controller and the roll attitude controller both use a proportional-integral-differential controller plus a feedforward control scheme;

[0006] The hydrofoil gliding control method comprises the steps of:

[0007] Obtaining a submerged depth set value given to a submerged depth controller, a pitch attitude set value of a pitch attitude controller, and a roll attitude set value of a roll attitude controller; the pitch attitude set value and the roll attitude set value are both specified by a remote controller;

[0008] The forward thrust obtained by mapping the throttle amount of the remote controller of the cross-medium UAV is used to perform forward thrust control and the three-axis attitude control of the hydrofoil is performed using the flight controller;

[0009] generating an immersion depth controller output through an immersion depth controller according to the immersion depth setting value and the immersion depth measured by the depth gauge;

[0010] generating a pitch attitude controller output and a roll attitude controller output through a pitch attitude controller and a roll attitude controller according to a pitch attitude given value and a roll attitude given value respectively;

[0011] The throttle amount given by the remote controller, the output of the immersion depth controller and the output of the roll attitude controller are input into the control distribution model unit;

[0012] The control allocation results generated by the control allocation model unit are used to perform immersion depth control and roll attitude control through the hydrofoils and underwater thrusters of the cross-medium UAV;

[0013] The output of the pitch attitude controller is passed to the horizontal tail through the flight controller to perform pitch attitude control.

[0014] On the other hand, a hydrofoil gliding control device is also provided, comprising an immersion depth controller, a roll attitude controller, a pitch attitude controller and a control distribution model unit, wherein the input end of the immersion depth controller is used to access the immersion depth measured by the depth gauge on the hydrofoil, the input ends of the roll attitude controller and the pitch attitude controller are respectively used to connect to the remote controller of the cross-medium UAV, the output ends of the immersion depth controller and the roll attitude controller are connected to the input end of the control distribution model unit, the input end of the control distribution model unit is also used to access the throttle amount given by the remote controller, the output end of the pitch attitude controller is used to connect to the horizontal tail through the flight controller of the cross-medium UAV, the output end of the control distribution model unit is used to connect the hydrofoil and the underwater thruster, the immersion depth controller uses a proportional-integral controller plus a feedforward control scheme, and the pitch attitude controller and the roll attitude controller both use a proportional-integral-differential controller plus a feedforward control scheme;

[0015] The forward thrust obtained by mapping the throttle amount of the remote controller of the cross-medium UAV is used to perform forward thrust control, and the three-axis attitude control of the hydrofoil is performed by the flight controller. The immersion depth controller output is generated through the immersion depth controller according to the given immersion depth constant and the immersion depth measured by the depth meter. The pitch attitude controller output and the roll attitude controller output are generated through the pitch attitude controller and the roll attitude controller according to the pitch attitude given value and the roll attitude given value specified by the remote controller respectively. The throttle amount given by the remote controller, the immersion depth controller output and the roll attitude controller output are input into the control allocation model unit. The control allocation result generated by the control allocation model unit is used to perform immersion depth control and roll attitude control through the hydrofoil and underwater thruster of the cross-medium UAV. The pitch attitude controller output is used to hand over to the horizontal tail through the flight controller to perform pitch attitude control.

[0016] On the other hand, a cross-media UAV is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned hydrofoil gliding control method when executing the computer program.

[0017] One of the above technical solutions has the following advantages and beneficial effects:

[0018] The above-mentioned hydrofoil gliding control method, device and cross-media UAV obtain the immersion depth of the hydrofoil through the pressure sensor and water level gauge installed on the hydrofoil, and use the designed control method to keep the hydrofoil at a given immersion depth, so that other components installed on the hydrofoil can be accurately placed above the water surface to reduce resistance, while the propeller of the hydrofoil is kept below the water surface and the propeller blades are completely immersed, which can provide maximum thrust during gliding and realize the rapid gliding of the cross-media UAV on the water surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. 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 any creative work.

[0020] Figure 1 is a block diagram of a module structure of a hydrofoil gliding control device in one embodiment;

[0021] Figure 2 1 is a flow chart of a hydrofoil gliding control method according to an embodiment;

[0022] Figure 3 A schematic diagram of an intermediate equivalent effectiveness analysis in one embodiment;

[0023] Figure 4is a side view of a hydrofoil in one embodiment;

[0024] Figure 5 The figure is a flow chart of using Newton's method to solve an optimization problem in one embodiment. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0026] It should be noted that the reference to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The presentation of this phrase at various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It will be appreciated by those skilled in the art that the embodiments described herein may be combined with other embodiments. The term "and / or" used in the specification of the present invention and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0027] The following will describe the implementation of the present invention in detail with reference to the accompanying drawings in the embodiment diagram of the present invention.

[0028] In one embodiment, a hydrofoil gliding control method is provided, which is applied to a hydrofoil gliding control device, such as Figure 1 As shown, the hydrofoil gliding control device includes an immersion depth controller 11, a roll attitude controller 13, a pitch attitude controller 15 and a control allocation model unit 17. The input end of the immersion depth controller 11 is used to access the immersion depth measured by the depth gauge on the hydrofoil. The input ends of the roll attitude controller 13 and the pitch attitude controller 15 are respectively used to connect the remote controller of the cross-medium UAV. The output ends of the immersion depth controller 11 and the roll attitude controller 13 are connected to the input end of the control allocation model unit 17, and the input end of the control allocation model unit 17 is also used to access the throttle amount given by the remote controller. The output end of the pitch attitude controller 15 is used to connect the horizontal tail through the flight controller of the cross-medium UAV. The output end of the control allocation model unit 17 is used to connect the hydrofoil and the underwater thruster. The immersion depth controller 11 uses a proportional-integral controller plus a feedforward control scheme. The pitch attitude controller 15 and the roll attitude controller 13 both use a proportional-integral-differential controller plus a feedforward control scheme.

[0029] like Figure 2 As shown, the hydrofoil gliding control method may include the following processing steps S10 to S22:

[0030] S10, obtaining a submergence depth set value given to the submergence depth controller, a pitch attitude set value of the pitch attitude controller, and a roll attitude set value of the roll attitude controller; the pitch attitude set value and the roll attitude set value are both specified by the remote controller;

[0031] S12, performing forward thrust control using the forward thrust obtained by mapping the throttle amount of the remote controller of the cross-medium UAV and performing three-axis attitude control of the hydrofoil using the flight controller;

[0032] S14, generating an immersion depth controller output through an immersion depth controller according to the immersion depth setting value and the immersion depth measured by the depth gauge;

[0033] S16, generating a pitch attitude controller output and a roll attitude controller output through a pitch attitude controller and a roll attitude controller according to the pitch attitude given value and the roll attitude given value respectively;

[0034] S18, inputting the throttle amount given by the remote controller, the immersion depth controller output and the roll attitude controller output into the control distribution model unit;

[0035] S20, using the control allocation result generated by the control allocation model unit to perform immersion depth control and rolling attitude control through the hydrofoil and underwater thrusters of the cross-medium UAV;

[0036] S22, using the pitch attitude controller output to send it to the horizontal tail through the flight controller to perform pitch attitude control.

[0037] It can be understood that the controlled parameters of the hydrofoil's gliding control in this embodiment include forward thrust, three-axis attitude (x, y, z) and the immersion depth of the hydrofoil in the water. Among them, the three-axis attitude can be controlled by the built-in controller of the existing flight controller PX4, and the forward thrust can be obtained by mapping the throttle amount of the remote controller of the cross-medium drone, so it is necessary to design the immersion depth controller 11 to output the desired force in the vertical direction. Since the controller calculates the desired force and desired torque of a certain axis, it is necessary to design a control distribution model to make the hydrofoil actually generate these desired forces and desired torques. Among them, the vertical direction desired force, horizontal direction desired force, rolling desired torque and yaw desired torque of the hydrofoil are the model inputs of the control distribution model, and the desired angle of attack of the wing surface on both sides of the hydrofoil and the desired thrust of the thrusters on both sides of the hydrofoil are the model outputs of the control distribution model. This control distribution model is nonlinear.

[0038] It can be understood that, first of all, the design of the immersion depth controller 11: the controlled parameter is the immersion depth of the hydrofoil in the water, which is measured by the depth gauge on the hydrofoil. The output of the immersion depth controller 11 is the desired force in the vertical direction. The control scheme is a control scheme using a proportional-integral controller (PI) plus a feedforward (FF), in which the feedforward part is used to compensate for gravity, and the compensation amount is obtained by measuring the fuselage weight of the cross-medium drone; the proportional part is used to stabilize the immersion depth controller 11 and realize the adjustment in the vertical direction; the integral part is used to compensate for the error of the feedforward part, thereby eliminating the steady-state error in the control and realizing zero-difference adjustment. The parameters of the immersion depth controller 11 are obtained by the empirical parameter adjustment method.

[0039] The overall control block diagram of hydrofoil gliding control is as follows: Figure 1 As shown in the figure, PID is a proportional-integral-differential controller, P is a proportional controller, and RC_setpoint is an important concept in drone control. It is usually used to set the position, speed, acceleration, resultant force, yaw angle, and yaw angular velocity of the drone. These control instructions can be issued by using the mavros / setpoint_raw / local command of the existing mavros library. Mixer is a mixer, PI is a proportional-integral control unit, FF is a feedforward control unit, and the output f zbd The square device is the square root operation module, the circle node is the summation node, and IMU is the inertial measurement unit. Figure 1 middle, h d represents a given value of depth, Represents a measurement of depth, represents the given value of the roll angle, represents the time derivative of the roll angle, Represents the measured value of the roll angle, q d represents the given value of the roll angular rate, The conversion formula between the Euler coordinate system and the body coordinate system is: represents the measured value of the roll angular rate, l d represents the output value of the roll controller, f xbd Indicates the throttle value given by the remote controller. f zbd represents the output value of the immersion depth controller 11, T 1c represents the desired thrust of the left thruster, T 2c represents the desired thrust of the right thruster, represents the desired angle of the left hydrofoil, represents the desired angle of the right hydrofoil, represents the given value of the pitch angle, represents the time derivative of the pitch angle, represents the measured value of the pitch angle, p d represents the given value of the pitch rate, represents the measured value of the pitch angular rate, m d represents the output value of the pitch controller, Indicates the desired horizontal tail angle.

[0040] The pitch attitude, roll attitude and immersion depth of the hydrofoil are controlled by independent controllers. Among them, the controller of the immersion depth part is as mentioned above, and the pitch attitude and roll attitude both use the PID+feedforward control scheme. For gliding, the immersion depth of the hydrofoil can be kept at a constant value, so the given value of the controller of the immersion depth part is a fixed value, and the given values ​​of the pitch attitude controller 15 and the roll attitude controller 13 are both specified by the remote control of the cross-medium UAV. The output of the pitch attitude controller 15 is handed over to the horizontal tail for execution through the controller (such as Mixer) provided by the flight controller PX4; while the output of the controller of the immersion depth part and the roll attitude controller 13 are input together with the throttle amount given by the remote control into the nonlinear control allocation model unit 17 introduced below, and the obtained control allocation result is handed over to the hydrofoils and underwater thrusters on both sides for execution.

[0041] The above-mentioned hydrofoil gliding control method obtains the immersion depth of the hydrofoil through the pressure sensor and water level gauge installed on the hydrofoil, and uses the designed control method to keep the hydrofoil at a given immersion depth, so that other components installed on the hydrofoil can be accurately placed above the water surface to reduce resistance. The propeller of the hydrofoil is kept below the water surface and the propeller blades are completely immersed, which can provide maximum thrust during gliding and realize the rapid gliding of the cross-medium UAV on the water surface.

[0042] In one embodiment, the control allocation model unit 17 maps the immersion depth controller output and the roll attitude controller output to the actuator inputs of the hydrofoil and underwater thruster of the cross-medium UAV based on intermediate equivalent force analysis and solving by Newton's method.

[0043] It can be understood that for a nonlinear control allocation model: the process of control allocation is the process of calculating the actuator input based on the controller output.

[0044] (1) First, define the coordinate system as follows:

[0045] b System: It is the fuselage coordinate system, the conventional front ( x )-right( y )-Down(z ) coordinate system.

[0046] s System: Assume that the sideslip angle of the aircraft is 0, x The axis points in the direction of the incoming flow. y Axis and b During the taxiing process, the height of the aircraft is kept in a small range, so it can be approximately considered that the s system x When the axis is kept horizontal and the roll angle of the aircraft is 0, the s system z The axis is pointed vertically downward.

[0047] (2) Define the controller output parameters, including the horizontal forward desired force , vertical upward expectation , Rolling desired moment and the desired yaw moment .

[0048] (3) The intermediate equivalent effect is as follows:

[0049] In order to map the controller output to the actuator input, it is necessary to analyze the force of the hydrofoil in the water. b The analysis is carried out under the assumption that the force exerted by water on the underwater assembly is only:

[0050] First, the impact of water on the hydrofoil z Directional force;

[0051] Second, the impact of water on the propeller x Direction and z Direction of force.

[0052] The above two forces are considered to act on a point fixed to the fuselage, and the points of action of the two forces on each side coincide, so the two forces on each side can be combined. Considering the hydrofoil and propeller on each side as a whole, there are four forces exerted by water on the underwater assembly, namely, x Directional force and z Directional force.

[0053] Intermediate equivalence analysis Figure 3 As shown, is the water acting on the right side point x Directional force, in b The following indicates. The water acts on the left point x Directional force, in b The following indicates. is the water acting on the right side point z Directional force, in b The following is indicated. The water acts on the left point zDirectional force, in b These four forces are called intermediate equivalent forces. is the desired rolling moment, b The following is indicated. is the desired yaw moment, b The following is indicated. is the distance between the action points on both sides. Then the process of control allocation becomes to calculate the intermediate equivalent force according to the controller output, and then calculate the actuator input according to the intermediate equivalent force;

[0054] ;

[0055] ;

[0056] ;

[0057] ;

[0058] ;

[0059] First, according to the pitch angle of the aircraft, s The desired thrust under the system is mapped to b system, and then the intermediate equivalent forces can be calculated based on simple mechanical relations.

[0060] (4) Calculate the actuator input based on the intermediate equivalent force:

[0061] The side view of the hydrofoil is as follows Figure 4 As shown, taking the left hydrofoil and propeller as an example, according to the principles of fluid mechanics, it is simplified to assume that the lift is proportional to the square of the speed and the angle of attack, and the following relationship can be listed:

[0062] ;

[0063] ;

[0064] in, The additional angle of attack brought by the pitch of the aircraft, that is, the pitch angle of the aircraft; is the forward velocity in the s system, equivalent to the gliding speed; is the coefficient obtained by simulation for calculating lift; is the thrust of the propeller, is the angle of the hydrofoil relative to the fuselage, is the forward velocity of the fuselage. The hydrofoil and propeller on the right are similar to those on the left, and can be described by the above relationship. Solving the equation in the previous section can get the actuator input, but there is no analytical solution for this equation, so it is converted into the following optimization problem:

[0065] ;

[0066] In one embodiment, the process of solving the problem using Newton's method includes:

[0067] Initialization, select the initial value of the solution;

[0068] Calculate the residual vector;

[0069] Check whether the convergence condition is met; the convergence condition includes that the modulus length of the residual vector is less than a preset threshold or the number of iterations reaches the maximum number of iterations;

[0070] If satisfied, the iterative solution is terminated and the actuator input is obtained;

[0071] If it is not satisfied, the Jacobian matrix and the update vector are calculated, the variables are updated and then projected to the feasible domain, and the step of calculating the residual vector is returned; the feasible domain is a closed interval.

[0072] (5) Use Newton's method to solve the optimization problem in the previous section, such as Figure 5 The solution process is shown below:

[0073] First, initialize and select the initial value to solve:

[0074] ;

[0075] Then calculate the residual vector, the residual vector is a 2×1 vector whose elements are and Values:

[0076] ;

[0077] Then the convergence condition is checked. If the modulus of the residual vector is less than a preset threshold or the maximum number of iterations is reached, the convergence condition is met, otherwise it is not met.

[0078] Compute the Jacobian matrix, whose elements are and ,right and The partial derivative of is expressed as follows:

[0079] ;

[0080] Solve the linear equations to get the update vector:

[0081] ;

[0082] Update variables, update and Values:

[0083] ;

[0084] ;

[0085] Project the variable to the feasible domain. The feasible domain here is a closed interval. Therefore, when the variable is greater than the upper bound, set it equal to the upper bound; when the variable is less than the lower bound, set it equal to the lower bound. k and k +1 indicates the two adjacent iterations.

[0086] It should be understood that although Figure 2 The steps in the method are shown in sequence as indicated by the arrows, but the steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of the steps, and the steps can be executed in other orders. Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequentially, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0087] In one embodiment, Figure 1 As shown, a hydrofoil gliding control device is provided, including an immersion depth controller 11, a roll attitude controller 13, a pitch attitude controller 15 and a control allocation model unit 17. The input end of the immersion depth controller 11 is used to access the immersion depth measured by the depth gauge on the hydrofoil, and the input ends of the roll attitude controller 13 and the pitch attitude controller 15 are respectively used to connect the remote controller of the cross-medium UAV. The output ends of the immersion depth controller 11 and the roll attitude controller 13 are connected to the input end of the control allocation model unit 17, and the input end of the control allocation model unit 17 is also used to access the throttle amount given by the remote controller. The output end of the pitch attitude controller 15 is used to connect the horizontal tail through the flight controller of the cross-medium UAV. The output end of the control allocation model unit 17 is used to connect the hydrofoil and the underwater thruster, and the immersion depth controller 11 uses a proportional-integral controller plus a feedforward control scheme. The pitch attitude controller 15 and the roll attitude controller 13 both use a proportional-integral-differential controller plus a feedforward control scheme.

[0088] The forward thrust obtained by mapping the throttle amount of the remote controller of the cross-media UAV is used to perform forward thrust control and the flight controller is used to perform three-axis attitude control of the hydrofoil. The immersion depth controller output is generated by the immersion depth controller 11 according to the given immersion depth constant and the immersion depth measured by the depth meter. The pitch attitude controller output and the roll attitude controller output are generated by the pitch attitude controller 15 and the roll attitude controller 13 according to the pitch attitude given value and the roll attitude given value specified by the remote controller respectively. The throttle amount, the immersion depth controller output and the roll attitude controller output given by the remote controller are input into the control allocation model unit 17. The control allocation result generated by the control allocation model unit 17 is used to perform immersion depth control and roll attitude control through the hydrofoil and underwater thruster of the cross-media UAV. The pitch attitude controller output is used to be handed over to the horizontal tail through the flight controller to perform pitch attitude control.

[0089] The above-mentioned hydrofoil gliding control device obtains the immersion depth of the hydrofoil through the pressure sensor and water level gauge installed on the hydrofoil, and uses the designed control method to keep the hydrofoil at a given immersion depth, so that other components installed on the hydrofoil can be accurately placed above the water surface to reduce resistance. The propeller of the hydrofoil is kept below the water surface and the propeller blades are completely immersed, which can provide maximum thrust during gliding and realize the rapid gliding of the cross-medium UAV on the water surface.

[0090] In one embodiment, the control allocation model unit 17 maps the immersion depth controller output and the roll attitude controller output to the actuator inputs of the hydrofoil and underwater thruster of the cross-medium UAV based on intermediate equivalent force analysis and solving by Newton's method.

[0091] In one embodiment, the process of solving the problem using Newton's method includes:

[0092] Initialization, select the initial value of the solution; calculate the residual vector; check whether the convergence conditions are met; the convergence conditions include that the modulus of the residual vector is less than the preset threshold or the number of iterations reaches the maximum number of iterations; if satisfied, end the iterative solution and obtain the actuator input; if not satisfied, calculate the Jacobian matrix and the update vector, update the variables and project them to the feasible domain, and return to the step of calculating the residual vector; the feasible domain is a closed interval.

[0093] It can be understood that for the specific limitations of the hydrofoil gliding control device, reference can be made to the corresponding limitations of the hydrofoil gliding control method mentioned above, which will not be repeated here.

[0094] In one embodiment, a cross-medium UAV is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the following processing steps when executing the computer program: obtaining a submerged depth set value given to a submerged depth controller, a pitch attitude set value of a pitch attitude controller, and a roll attitude set value of a roll attitude controller; the pitch attitude set value and the roll attitude set value are both specified by a remote controller; forward thrust control is performed using a forward thrust obtained by mapping a throttle amount of a remote controller of the cross-medium UAV, and three-axis attitude control of a hydrofoil is performed using a flight controller; and a submerged depth set value and a depth meter are used to determine the submerged depth of the UAV. The immersion depth generates an immersion depth controller output through the immersion depth controller; the pitch attitude controller output and the roll attitude controller output are generated through the pitch attitude controller and the roll attitude controller according to the pitch attitude given value and the roll attitude given value respectively; the throttle amount given by the remote controller, the immersion depth controller output and the roll attitude controller output are input into the control allocation model unit; the control allocation result generated by the control allocation model unit is used to perform immersion depth control and roll attitude control through the hydrofoil and underwater thruster of the cross-medium UAV; the pitch attitude controller output is used to be handed over to the horizontal tail through the flight controller to perform pitch attitude control.

[0095] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following processing steps are implemented: obtaining an immersion depth set value given to an immersion depth controller, a pitch attitude set value of a pitch attitude controller, and a roll attitude set value of a roll attitude controller; the pitch attitude set value and the roll attitude set value are both specified by a remote controller; forward thrust control is performed using a forward thrust obtained by mapping the throttle amount of the remote controller of a cross-medium UAV, and three-axis attitude control of the hydrofoil is performed using a flight controller; and the immersion depth is measured by a depth meter according to the immersion depth set value. An immersion depth controller output is generated through an immersion depth controller; a pitch attitude controller output and a roll attitude controller output are generated through a pitch attitude controller and a roll attitude controller according to a pitch attitude given value and a roll attitude given value respectively; the throttle amount given by the remote controller, the immersion depth controller output and the roll attitude controller output are input into a control allocation model unit; the control allocation result generated by the control allocation model unit is used to perform immersion depth control and roll attitude control through the hydrofoil and underwater thruster of the cross-medium UAV; and the pitch attitude controller output is used to be handed over to the horizontal tail through the flight controller to perform pitch attitude control.

[0096] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus dynamic random access memory (RambusDRAM, referred to as RDRAM) and interface dynamic random access memory (DRDRAM).

[0097] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of protection of the invention. It should be pointed out that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the attached claims.

Claims

1. A hydrofoil gliding control method, characterized in that: The invention is applied to a hydrofoil gliding control device, the hydrofoil gliding control device comprises an immersion depth controller, a roll attitude controller, a pitch attitude controller and a control distribution model unit, the input end of the immersion depth controller is used to access the immersion depth measured by the depth gauge on the hydrofoil, the input ends of the roll attitude controller and the pitch attitude controller are respectively used to connect to the remote controller of a cross-medium UAV, the output ends of the immersion depth controller and the roll attitude controller are connected to the input end of the control distribution model unit, the input end of the control distribution model unit is also used to access the throttle amount given by the remote controller, the output end of the pitch attitude controller is used to connect to the horizontal tail through the flight controller of the cross-medium UAV, the output end of the control distribution model unit is used to connect the hydrofoil and the underwater thruster, the immersion depth controller uses a proportional-integral controller plus a feedforward control scheme, and the pitch attitude controller and the roll attitude controller both use a proportional-integral-differential controller plus a feedforward control scheme; The hydrofoil gliding control method comprises the steps of: Acquire a submergence depth constant given to the submergence depth controller, a pitch attitude constant of the pitch attitude controller, and a roll attitude constant of the roll attitude controller; the pitch attitude constant and the roll attitude constant are both specified by a remote controller; The forward thrust obtained by mapping the throttle amount of the remote controller of the cross-medium UAV is used to perform forward thrust control and the three-axis attitude control of the hydrofoil is performed using the flight controller; generating an immersion depth controller output through the immersion depth controller according to the immersion depth setting value and the immersion depth measured by the depth gauge; generating a pitch attitude controller output and a roll attitude controller output through the pitch attitude controller and the roll attitude controller according to the pitch attitude given value and the roll attitude given value respectively; Inputting the throttle amount given by the remote controller, the output of the immersion depth controller and the output of the roll attitude controller into the control allocation model unit; Using the control allocation result generated by the control allocation model unit, the submerged depth control and the rolling attitude control are performed through the hydrofoils and underwater thrusters of the cross-medium UAV; The pitch attitude controller output is delivered to the horizontal tail through the flight controller to perform pitch attitude control.

2. The hydrofoil gliding control method according to claim 1, characterized in that: The control allocation model unit is based on intermediate equivalent force analysis and solved by Newton's method, mapping the immersion depth controller output and the roll attitude controller output into actuator inputs of the hydrofoil and underwater thruster of the cross-medium UAV.

3. The hydrofoil gliding control method according to claim 2, characterized in that: The process of solving using Newton's method includes: Initialization, select the initial value of the solution; calculate the residual vector; check whether the convergence conditions are met; the convergence conditions include that the modulus of the residual vector is less than a preset threshold or the number of iterations reaches the maximum number of iterations; if satisfied, end the iterative solution and obtain the actuator input; if not satisfied, calculate the Jacobian matrix and the update vector, and after updating the variables, project the variables to the feasible domain, and return to the step of calculating the residual vector; the feasible domain is a closed interval.

4. A hydrofoil gliding control device, characterized in that: It includes an immersion depth controller, a roll attitude controller, a pitch attitude controller and a control allocation model unit, wherein the input end of the immersion depth controller is used to access the immersion depth measured by the depth gauge on the hydrofoil, the input ends of the roll attitude controller and the pitch attitude controller are respectively used to connect to the remote controller of the cross-medium UAV, the output ends of the immersion depth controller and the roll attitude controller are connected to the input end of the control allocation model unit, the input end of the control allocation model unit is also used to access the throttle amount given by the remote controller, the output end of the pitch attitude controller is used to connect the horizontal tail through the flight controller of the cross-medium UAV, the output end of the control allocation model unit is used to connect the hydrofoil and the underwater thruster, the immersion depth controller uses a proportional-integral controller plus a feedforward control scheme, and the pitch attitude controller and the roll attitude controller both use a proportional-integral-differential controller plus a feedforward control scheme; The forward thrust obtained by mapping the throttle amount of the remote controller of the cross-medium UAV is used to perform forward thrust control and the three-axis attitude control of the hydrofoil is performed by the flight controller. The immersion depth controller output is generated by the immersion depth controller according to the given immersion depth fixed value and the immersion depth measured by the depth meter. The pitch attitude controller output and the roll attitude controller output are generated by the pitch attitude controller and the roll attitude controller according to the pitch attitude given value and the roll attitude given value specified by the remote controller respectively. The throttle amount given by the remote controller, the immersion depth controller output and the roll attitude controller output are input into the control allocation model unit. The control allocation result generated by the control allocation model unit is used to perform immersion depth control and roll attitude control by the hydrofoil and underwater thruster of the cross-medium UAV. The pitch attitude controller output is used to be handed over to the horizontal tail through the flight controller to perform pitch attitude control.

5. The hydrofoil gliding control device according to claim 4, characterized in that: The control allocation model unit is based on intermediate equivalent force analysis and solved by Newton's method, mapping the immersion depth controller output and the roll attitude controller output into actuator inputs of the hydrofoil and underwater thruster of the cross-medium UAV.

6. The hydrofoil gliding control device according to claim 5, characterized in that: The process of solving using Newton's method includes: Initialization, select the initial value of the solution; calculate the residual vector; check whether the convergence conditions are met; the convergence conditions include that the modulus of the residual vector is less than a preset threshold or the number of iterations reaches the maximum number of iterations; if satisfied, end the iterative solution and obtain the actuator input; if not satisfied, calculate the Jacobian matrix and the update vector, and after updating the variables, project the variables to the feasible domain, and return to the step of calculating the residual vector; the feasible domain is a closed interval.

7. A cross-media drone, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the hydrofoil gliding control method according to any one of claims 1 to 3 are implemented.

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