Self-adaptive attitude regulation and control method for self-reconfigurable modular AUV (Autonomous Underwater Vehicle)

Abstract

The invention discloses a self-adaptive attitude regulation and control method for a self-reconfigurable modular autonomous underwater vehicle (AUV), and belongs to the technical field of self-reconfigurable modular AUVs. In order to solve the problem that the gravity center change of the self-reconfiguration modular AUV causes the negative influence on the performance, the method comprises the following steps: measuring the weight distribution, the gravity center position and the buoyancy center position of all combinations, and calculating the hydrodynamic coefficient of the corresponding AUV configuration; identifying cabin section ID information of each module of the assembled AUV, matching the cabin section ID information with the module combination, and judging whether the assembly is accurate or not; matching a thrust distribution matrix, a gravity center position, a buoyancy center position, weight distribution and a hydrodynamic coefficient for each cabin ID one by one; carrying out ashore and ashore load testing and ashore task deployment on the modular AUV; and attitude data is acquired in real time, attitude self-adaptive adjustment is performed on the modular AUV according to the attitude data, the gravity center and the position relation of the stepping motor, a preset attitude target is achieved, and a balance state is kept. The method is used for the self-reconfiguration modular autonomous underwater vehicle.

Description

Technical Field

[0001] The invention relates to an adaptive attitude control method for a self-reconfigurable modular AUV, belonging to the technical field of self-reconfigurable modular autonomous underwater vehicles. Background Art

[0002] In exploring complex and resource-rich underwater environments, self-reconfigurable modular autonomous underwater vehicles (AUVs), as a cutting-edge underwater detection and operation platform, are gradually showing their unique advantages and potential, and are also an important trend in the future development of AUVs. This type of AUV uses a modular design to achieve rapid replacement and combination of functional modules, so that it can flexibly adjust its operating capabilities and operating methods according to specific mission requirements. However, while the modular design brings flexibility and configurability, AUVs also face a major technical challenge: after replacing modules (such as payload, propulsion method, etc.), modular AUVs will cause changes in the center of gravity, center of buoyancy, and hydrodynamic performance. This change means that even under a modular design, AUVs still need to spend a lot of time on manual adjustments. This process not only reduces operating efficiency, but also reduces the flexibility and convenience that modular design should bring, thereby weakening the practical application value of modularization to a certain extent and reducing the significance of modular AUVs.

[0003] Changes in the center of gravity position have a profound impact on the navigation performance and operating efficiency of the AUV. On the one hand, the center of gravity shift may destroy the static and dynamic stability of the AUV, increase unstable movements such as rolling and pitching, and thus seriously affect its navigation accuracy and operating capabilities. On the other hand, the change in the center of gravity may also have an adverse effect on the buoyancy balance of the AUV, resulting in changes in the buoyancy state at different water depths and different water flow conditions, increasing energy consumption, reducing endurance, and even causing safety hazards. In-depth research has shown that the complexity and uncertainty of the underwater environment further exacerbate the severity of this problem. For example, factors such as water flow changes, undulating seabed terrain, and the presence of underwater obstacles may significantly affect the navigation state of the AUV, making the negative impact of the center of gravity change on its performance more prominent.

[0004] To meet this challenge, current research focuses on two aspects: first, optimizing module design, such as adopting more reasonable weight distribution, more scientific module layout and more advanced manufacturing process, to reduce the impact of center of gravity change on AUV performance; second, introducing advanced control systems and algorithms, such as attitude control algorithms, buoyancy adjustment algorithms and intelligent path planning algorithms, to achieve real-time monitoring and dynamic adjustment of AUV status. However, these methods still have many limitations and challenges in practical applications. For example, the optimization of module design is subject to the dual constraints of technical feasibility and manufacturing cost, while the performance of the control system is limited by factors such as sensor accuracy, algorithm complexity and computing resources.

[0005] Therefore, how to effectively deal with the problem of center of gravity change of modular AUV is an urgent problem to be solved in the reconstruction of the development of modular autonomous underwater vehicles. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that the change of the center of gravity of a self-reconfigurable modular AUV causes a negative impact on its performance, and to provide an adaptive attitude control method for a self-reconfigurable modular AUV.

[0007] The method for adaptive attitude control of a self-reconfigurable modular AUV of the present invention comprises:

[0008] S1. Determine the weight distribution, center of gravity position and center of buoyancy position of all AUV module combinations, and calculate the hydrodynamic coefficient of the AUV configuration corresponding to the module combination;

[0009] S2, by identifying the compartment ID information of each module of the assembled AUV, building a module data mapping system, matching it with all module combinations in S1, judging whether the AUV is assembled correctly, and repairing it if there is a fault in the assembly until it is assembled correctly;

[0010] S3. Match the preset thrust distribution scheme for all module combinations to obtain the thrust distribution matrix, and match the thrust distribution matrix, center of gravity position, center of buoyancy position, weight distribution and hydrodynamic coefficient for each compartment ID one by one;

[0011] S4. Debug the modular AUV onshore, perform self-check procedures according to various preset data of the modular AUV, and perform adaptive adjustment attitude structure inspection;

[0012] S5. Match the current debugging environment, obtain the test task set, and perform onshore load testing on the modular AUV;

[0013] S6. Build a mission framework for modular AUVs and deploy modular AUVs onshore based on payload type and mission requirements;

[0014] S7, acquiring the attitude data of the modular AUV in real time, and adaptively adjusting the attitude of the modular AUV according to the attitude data, the center of gravity and the position relationship of the stepper motor, so that the modular AUV reaches a preset attitude target and maintains a balanced state.

[0015] Preferably, the key hydrodynamic coefficients in S1 include a drag coefficient, a lift coefficient and an additional mass coefficient.

[0016] Preferably, the specific method of determining whether the AUV is assembled correctly by identifying the compartment ID information of each module of the assembled AUV in S2, constructing a module data mapping system, and matching it with all module combinations in S1 includes:

[0017] S2-1, identify each compartment ID of the AUV one by one through the CAN bus;

[0018] S2-2, match each compartment ID with all module combinations in S1. If they match, execute S2-4; if not, execute S2-3;

[0019] S2-3, determine that the AUV assembly is wrong, and feed back the error information to the host computer. The host computer provides the correct assembly sequence guidance, adjusts the assembly sequence according to the assembly sequence guidance, and then returns to execute S2-2;

[0020] S2-4, AUV assembly is completed.

[0021] Preferably, the compartment IDs of the AUV in S2-1 include:

[0022] The ID of the modular bow section with load is: 011, and the ID of the modular bow section without load is: 010.

[0023] The ID of the front multi-mode auxiliary propulsion section is: 02, the ID of the payload section is: 03, and the ID of the core section is: 04.

[0024] The navigation segment ID with additional lithium battery is: 051, and the navigation segment ID without additional lithium battery is: 050.

[0025] The ID of the rear multi-modal auxiliary propulsion section is: 06, and the ID of the modular stern section is: 07.

[0026] 5. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, wherein the step of reading various preset data of the modular AUV in step S4 specifically comprises:

[0027] Hydrodynamic coefficients, weight, center of buoyancy position, onboard load details, battery charge, propulsion mode settings and thrust distribution matrix;

[0028] Among them, the battery power is monitored in real time.

[0029] Preferably, the self-checking procedure described in S4 specifically includes:

[0030] After the preset data of the modular AUV is read, the self-check procedure is automatically executed;

[0031] When there is a hardware failure, software configuration error, or data transmission anomaly, the debugging interface displays the corresponding error code and possible causes;

[0032] Repair faults, including hardware inspection, software adjustment, and parameter reconfiguration;

[0033] After the repair is complete, execute the self-test procedure again until there are no errors.

[0034] Preferably, the step of performing the adaptive adjustment posture structure test in S4 specifically includes:

[0035] Simulate stress changes under different working conditions, verify the attitude control algorithm, adjust the limit settings, optimize the response speed and stability, and complete the adaptive adjustment attitude structure verification.

[0036] Preferably, the onshore load test of the modular AUV in S5 specifically includes:

[0037] Basic test tasks and derived test tasks;

[0038] The basic test tasks include: radio communication data reception, Iridium communication signal capture, Doppler velocimeter DVL data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed precision control, motor status real-time query and depth data acquisition;

[0039] The derivative test tasks include: receiving underwater acoustic communication data, obstacle avoidance sonar data and CTD data, and the CTD data includes conductivity, temperature and depth.

[0040] Preferably, the specific method of acquiring the attitude data of the modular AUV in real time in S7, and adaptively adjusting the attitude of the modular AUV according to the attitude data, the center of gravity and the position relationship of the stepper motor includes:

[0041] S7-1, acquiring attitude data of the modular AUV in real time, wherein the attitude data includes pitch angle attitude information;

[0042] S7-2, calculating the posture error with the preset posture target according to the current posture data, the center of gravity and the position relationship of the stepper motor;

[0043] S7-3, calculating the required torque magnitude and direction according to the posture error obtained in S7-2;

[0044] S7-4, generating a rotation direction control instruction and a speed control instruction of the stepper motor according to the torque magnitude and direction obtained by S7-3;

[0045] S7-5, adjusting the attitude of the modular AUV according to the rotation direction control command and speed control command of the stepper motor.

[0046] Preferably, there are 24 combinations of all modules, and there are 6 AUV configurations corresponding to the 24 module combinations.

[0047] Advantages of the present invention: The adaptive attitude control method of the self-reconstructing modular AUV proposed in the present invention can monitor the status of each functional module after self-reconstruction in real time, and intelligently adjust the floating state and operating parameters of the AUV, thereby significantly improving its autonomous operation capability, task execution efficiency and overall stability. Through the dynamic adaptive intelligent adjustment method, the problem of center of gravity change of the modular AUV can be effectively dealt with. It not only has high versatility and scalability, but also can provide strong technical support and theoretical guidance for the modular design, intelligent upgrade and complex task execution capability of underwater vehicles, and promote the technological progress and development in the field of underwater detection and operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flowchart of the adaptive attitude control method of the self-reconfigurable modular AUV of the present invention;

[0049] Figure 2 It is a flowchart of the method of modular AUV assembly;

[0050] Figure 3 It is a flowchart of a method for reading modular AUV module parameters;

[0051] Figure 4 It is a flowchart of the method of onshore commissioning of modular AUV;

[0052] Figure 5 It is a flowchart of the method for modular AUV shore load testing;

[0053] Figure 6 It is a flowchart of the method for modular AUV shore mission deployment;

[0054] Figure 7 It is a flowchart of the method for self-regulation of modular AUV launching deployment;

[0055] Figure 8 It is a flowchart of the method for adaptive adjustment of the center of gravity of a modular AUV;

[0056] Fig. 9 is a structural schematic diagram of the first modular AUV configuration of the present invention;

[0057] Fig.10 is a structural schematic diagram of the second modular AUV configuration of the present invention;

[0058] Fig.11 is a structural schematic diagram of the third modular AUV configuration of the present invention;

[0059] Fig.12 is a structural schematic diagram of the fourth modular AUV configuration of the present invention;

[0060] Fig.13 is a structural schematic diagram of the fifth modular AUV configuration of the present invention;

[0061] Fig.14 It is a structural schematic diagram of the sixth modular AUV configuration described in the present invention. DETAILED DESCRIPTION

[0062] 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.

[0063] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0064] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0065] Embodiment 1:

[0066] Combine the following Figure 1-Figure 14 The present embodiment describes an adaptive attitude control method for a self-reconfigurable modular AUV, which includes:

[0067] S1. Determine the weight distribution, center of gravity position and center of buoyancy position of all AUV module combinations, and calculate the hydrodynamic coefficient of the AUV configuration corresponding to the module combination;

[0068] S2, by identifying the compartment ID information of each module of the assembled AUV, building a module data mapping system, matching it with all module combinations in S1, judging whether the AUV is assembled correctly, and repairing it if there is a fault in the assembly until it is assembled correctly;

[0069] S3. Match the preset thrust distribution scheme for all module combinations to obtain the thrust distribution matrix, and match the thrust distribution matrix, center of gravity position, center of buoyancy position, weight distribution and hydrodynamic coefficient for each compartment ID one by one;

[0070] S4. Debug the modular AUV onshore, perform self-check procedures according to various preset data of the modular AUV, and perform adaptive adjustment attitude structure inspection;

[0071] S5. Match the current debugging environment, obtain the test task set, and perform onshore load testing on the modular AUV;

[0072] S6. Build a mission framework for modular AUVs and deploy modular AUVs onshore based on payload type and mission requirements;

[0073] S7, acquiring the attitude data of the modular AUV in real time, and adaptively adjusting the attitude of the modular AUV according to the attitude data, the center of gravity and the position relationship of the stepper motor, so that the modular AUV reaches a preset attitude target and maintains a balanced state.

[0074] Furthermore, the key hydrodynamic coefficients described in S1 include a drag coefficient, a lift coefficient and an additional mass coefficient.

[0075] Furthermore, the specific method of determining whether the AUV is assembled correctly by identifying the compartment ID information of each module of the assembled AUV in S2, building a module data mapping system, and matching it with all module combinations in S1 includes:

[0076] S2-1, identify each compartment ID of the AUV one by one through the CAN bus;

[0077] S2-2, match each compartment ID with all module combinations in S1. If they match, execute S2-4; if not, execute S2-3;

[0078] S2-3, determine that the AUV assembly is wrong, and feed back the error information to the host computer. The host computer provides the correct assembly sequence guidance, adjusts the assembly sequence according to the assembly sequence guidance, and then returns to execute S2-2;

[0079] S2-4, AUV assembly is completed.

[0080] Furthermore, the compartment IDs of the AUV described in S2-1 include:

[0081] The ID of the modular bow section with load is: 011, and the ID of the modular bow section without load is: 010.

[0082] The ID of the front multi-mode auxiliary propulsion section is: 02, the ID of the payload section is: 03, and the ID of the core section is: 04.

[0083] The navigation segment ID with additional lithium battery is: 051, and the navigation segment ID without additional lithium battery is: 050.

[0084] The ID of the rear multi-modal auxiliary propulsion section is: 06, and the ID of the modular stern section is: 07.

[0085] Furthermore, the step S4 of reading various preset data of the modular AUV specifically includes:

[0086] Hydrodynamic coefficients, weight, center of buoyancy position, onboard load details, battery charge, propulsion mode settings and thrust distribution matrix;

[0087] Among them, the battery power is monitored in real time.

[0088] Furthermore, the self-checking procedure in S4 specifically includes:

[0089] After the preset data of the modular AUV is read, the self-check procedure is automatically executed;

[0090] When there is a hardware failure, software configuration error, or data transmission anomaly, the debugging interface displays the corresponding error code and possible causes;

[0091] Repair faults, including hardware inspection, software adjustment, and parameter reconfiguration;

[0092] After the repair is complete, execute the self-test procedure again until there are no errors.

[0093] Furthermore, the step S4 of executing the adaptive adjustment posture structure test specifically includes:

[0094] Simulate stress changes under different working conditions, verify the attitude control algorithm, adjust the limit settings, optimize the response speed and stability, and complete the adaptive adjustment attitude structure verification.

[0095] Furthermore, the shore load test of the modular AUV described in S5 specifically includes:

[0096] Basic test tasks and derived test tasks;

[0097] The basic test tasks include: radio communication data reception, Iridium communication signal capture, Doppler velocimeter DVL data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed precision control, motor status real-time query and depth data precision acquisition;

[0098] The derivative test tasks include: receiving underwater acoustic communication data, obstacle avoidance sonar data and CTD data, and the CTD data includes conductivity, temperature and depth.

[0099] Furthermore, the specific method of acquiring the attitude data of the modular AUV in real time in S7 and adaptively adjusting the attitude of the modular AUV according to the attitude data, the center of gravity and the position relationship of the stepper motor includes:

[0100] S7-1, acquiring attitude data of the modular AUV in real time, wherein the attitude data includes pitch angle attitude information;

[0101] S7-2, calculating the posture error with the preset posture target according to the current posture data, the center of gravity and the position relationship of the stepper motor;

[0102] S7-3, calculating the required torque magnitude and direction according to the posture error obtained in S7-2;

[0103] S7-4, generating a rotation direction control instruction and a speed control instruction of the stepper motor according to the torque magnitude and direction obtained by S7-3;

[0104] S7-5, adjusting the attitude of the modular AUV according to the rotation direction control command and speed control command of the stepper motor.

[0105] Furthermore, there are 24 combinations of all modules, and the 24 module combinations correspond to 6 AUV configurations.

[0106] In the present invention, Figure 1 As shown in Figure 1, it is an adaptive attitude control method for modular AUVs. S1 is a precise pre-experiment and data measurement. For 24 different module combinations, through precise pre-experiments, the weight distribution, center of gravity and center of buoyancy of each combination are systematically measured. Six groups of key hydrodynamic coefficients are measured, including drag coefficient, lift coefficient, additional mass coefficient, etc., to provide a data basis for subsequent intelligent adjustment. The 24 different module combinations are shown in Table 1, and the corresponding 6 AUV configurations are shown in Table 2. The 6 AUV configurations are shown in Table 2. Figure 9-14 shown.

[0107] Table 1

[0108]

[0109] Table 2

[0110]

[0111] S2 is the modular AUV assembly stage, the flow chart is as follows Figure 2As shown in the figure, during the assembly process of the modular autonomous underwater vehicle (AUV). First, the system identifies the ID of each compartment one by one through the CAN bus. These IDs include the modular bow section (with / without load) (ID: 011 / 010), the multi-modal auxiliary propulsion section (front) (ID: 02), the payload section (ID: 03), the core section (ID: 04), the navigation section (with / without additional lithium battery) (ID: 051 / 050), the multi-modal auxiliary propulsion section (rear) (ID: 06) and the modular stern section (ID: 07). After the identification is completed, the system matches this information with the 24 module combinations measured in the pre-experiment to determine which situation the currently assembled AUV belongs to. If the identification result does not meet any of the pre-experimental situations, the system determines that it is an assembly error, and immediately displays an error message on the host computer interface, while providing guidance on the correct assembly sequence. The operator needs to manually adjust the assembly sequence according to the instructions of the host computer until it meets one of the pre-experimental situations. This process ensures the accuracy and efficiency of AUV assembly.

[0112] S3 is the stage of modular AUV reading module parameters. The flow chart is as follows Figure 3 As shown in the figure, in the system deployment process of modular autonomous underwater vehicles (AUVs), the system needs to accurately identify the compartment ID. Specifically, the system needs to match the preset thrust distribution matrix, center of gravity position, center of buoyancy position, total weight, and hydrodynamic coefficients one by one. The thrust distribution matrix, as the control basis for the attitude control of AUVs, needs to be obtained in the process of matching the preset thrust distribution scheme according to the 24 module combinations preset by AUVs. These matrices elaborate the thrust distribution relationship between each thruster in detail, providing the necessary support for the precise attitude control of AUVs in underwater environments. The reading of hydrodynamic coefficients comes from the constructed coefficient library, which presets 6 complete sets of hydrodynamic coefficients for each of the 6 AUV configurations formed by the 24 modular AUV combinations. These coefficient sets cover key parameters such as drag coefficient, lift coefficient, and additional mass coefficient, and are an important basis for the stable manipulation and control of AUVs in complex underwater environments. In the subsequent attitude control algorithm, these coefficients will play a vital role to ensure that AUVs can accurately respond to control commands and achieve efficient underwater operations. After successfully reading and parsing all the above parameters, the modular AUV enters the launching and deployment self-adjustment stage.

[0113] S4 is the onshore commissioning phase of the modular AUV. The flow chart is as follows Figure 4As shown in the figure, the modular AUV onshore debugging phase is an important link to ensure that the AUV has normal functions and accurate parameters before launching. The host computer reads various preset data of the AUV, which covers the core physical properties and working status information of the AUV, including but not limited to hydrodynamic coefficients, weight, center of buoyancy position, load details, battery power (real-time monitoring required), propulsion mode settings, and thrust distribution matrix. Except for the battery power, the rest of the data is based on the previous precision experiments, ensuring the basic accuracy of the debugging. After the data is read, the system automatically executes the self-check program to identify and report potential hardware failures, software configuration errors, or data transmission anomalies. Once a problem is found, the debugging interface displays the error code and possible causes to guide technicians to carry out targeted manual intervention and repair. This process may involve hardware inspection, software adjustment, or parameter reconfiguration until all problems are solved and there is no error prompt in the self-check program. After the self-check is completed, the adaptive adjustment attitude structure verification phase is entered. This step is to verify whether the attitude control system of the AUV can automatically adjust according to the actual working conditions, maintain structural stability, and ensure its precise control ability in complex underwater environments. By simulating stress changes under different working conditions, the system conducts a fine calibration of the attitude control algorithm and adjusts the limit settings when necessary to optimize the response speed and stability. After completing the above calibration, the AUV enters the next stage of debugging.

[0114] S5 is the modular AUV shore load test phase, the flow chart is as follows Figure 5 As shown in the figure, during the onshore load test phase of the modular autonomous underwater vehicle (AUV), the system first accurately matches the current debugging environment through the identification module to determine the applicable test task set. The test tasks are divided into two categories: basic test tasks and derivative test tasks. The basic task is the functional verification of the core module, covering radio communication data reception, Iridium communication signal capture, DVL (Doppler velocimeter) data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed precision control, motor status real-time query and depth data accurate acquisition. These basic tasks are to ensure the stable operation of the core functions of the AUV. According to the test task framework, users can check the required basic test tasks and the load-derived test tasks carried according to the task requirements, such as receiving hydroacoustic communication data, obstacle avoidance sonar data, and CTD (conductivity, temperature, depth) data. Once all selected tasks are successfully executed and verified, the system will automatically enter the next stage of the debugging process.

[0115] S6 is the modular AUV onshore mission deployment phase, the flow chart is as follows Figure 6As shown in the figure, during the onshore deployment mission phase of the modular autonomous underwater vehicle (AUV), the AUV enters the mission deployment phase after completing a comprehensive self-check process. First, the system is initialized to build and establish the deployment mission framework. Subsequently, various tasks are deployed in the host computer according to the specific payload type and mission requirements carried by the AUV. The deployment process must ensure that the logic between tasks is clear and coordinated, and fully consider the compatibility and data interaction requirements between payloads. Once all tasks are accurately deployed to the host computer and are initially verified to be correct, the next stage of the debugging process begins.

[0116] S7 is the self-regulation stage of modular AUV deployment, the flow chart is as follows Figure 7 As shown, Figure 8 This is a flowchart of the method for adaptive center of gravity adjustment of modular AUV. During the adaptive self-adjustment stage of the center of gravity when the AUV is launched and deployed, the system reads the pitch angle attitude information and then calculates the relative position relationship between the center of gravity and the stepper motor, including the relative distance and angle between them. Based on the above data, the system starts to perform adaptive center of gravity attitude adjustment to adjust the AUV to a balanced state. This process first involves error calculation, that is, the attitude error is accurately calculated based on the current attitude data, the position relationship between the center of gravity and the stepper motor, and the preset attitude target. Then, the system further calculates the magnitude and direction of the torque required to be provided based on the attitude error. Subsequently, the system generates a control command for the stepper motor, which specifies key parameters such as the rotation direction and speed of the motor in detail to ensure accurate torque adjustment. After the control command is generated, it is sent to the stepper motor for execution. Finally, the system continuously monitors the data of the attitude sensor and fine-tunes the attitude of the AUV based on the monitoring results to ensure that it always remains in a balanced state.

[0117] Up to now, there are no relevant patents disclosed in this field. The existing patents for modular autonomous underwater vehicles (AUVs) do not cover the technology of attitude self-adjustment after self-reconstruction. At the same time, the existing underwater robot devices have not considered combining with modular AUVs in terms of attitude self-adjustment. The present invention can monitor the status of each functional module after self-reconstruction in real time, and intelligently adjust the buoyancy and operating parameters of the AUV, thereby significantly improving its autonomous operation capability, task execution efficiency and overall stability. This solution is not only highly versatile and scalable, but also can provide strong technical support and theoretical guidance for the modular design, intelligent upgrading and complex task execution capabilities of underwater vehicles, and promote technological progress and development in the field of underwater detection and operations.

[0118] The present invention aims at the problem that after the modular AUV replaces the module (load, propulsion mode, etc.), the center of gravity, center of buoyancy and hydrodynamic performance change accordingly, resulting in the need for long-term manual adjustment, which seriously affects the operating efficiency and reduces the flexibility and convenience advantages of modular design. An innovative dynamic adaptive intelligent adjustment method is proposed. Through precise pre-experiments, the system measured the weight distribution, center of gravity and center of buoyancy of 24 module combinations, and accurately calculated 6 groups of key hydrodynamic coefficients, laying a solid foundation for intelligent adjustment. In terms of technical solutions, the present invention uses the CAN bus protocol to accurately identify the ID information of each AUV module and constructs a module data mapping system. On this basis, sensor technology, intelligent algorithms and dynamic adjustment strategies are integrated to monitor the status of each functional module after self-reconstruction in real time, and intelligently adjust the floating state and operating parameters of the AUV. The system automatically adjusts the floating state parameters according to the mission requirements and navigation environment, which significantly improves the autonomous operation capability, mission execution efficiency and overall stability of the AUV. In addition, the dynamic adaptive intelligent adjustment method proposed in the present invention is highly versatile and scalable. It is not only applicable to the currently known self-reconfigurable modular AUV platform, but can also be extended to more types of modular AUVs in the future, providing strong technical support and theoretical guidance for the modular design, intelligent upgrade and complex task execution capabilities of underwater vehicles. In summary, the present invention is significantly innovative and advanced in technology, showing broad application prospects and important scientific research value, and opening up a new direction for the intelligent and autonomous development of underwater vehicles.

[0119] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. An adaptive attitude control method for a self-reconfigurable modular AUV, characterized in that: It includes: S1. Determine the weight distribution, center of gravity position and center of buoyancy position of all AUV module combinations, and calculate the hydrodynamic coefficient of the AUV configuration corresponding to the module combination; S2, by identifying the compartment ID information of each module of the assembled AUV, building a module data mapping system, matching it with all module combinations in S1, judging whether the AUV is assembled correctly, and repairing it if there is a fault in the assembly until it is assembled correctly; S3. Match the preset thrust distribution scheme for all module combinations to obtain the thrust distribution matrix, and match the thrust distribution matrix, center of gravity position, center of buoyancy position, weight distribution and hydrodynamic coefficient for each compartment ID one by one; S4. Debug the modular AUV onshore, perform self-check procedures according to various preset data of the modular AUV, and perform adaptive adjustment attitude structure inspection; S5. Match the current debugging environment, obtain the test task set, and perform onshore load testing on the modular AUV; S6. Build a mission framework for modular AUVs and deploy modular AUVs onshore based on payload type and mission requirements; S7, acquiring the attitude data of the modular AUV in real time, and adaptively adjusting the attitude of the modular AUV according to the attitude data, the center of gravity and the position relationship of the stepper motor, so that the modular AUV reaches a preset attitude target and maintains a balanced state.

2. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: The key hydrodynamic coefficients described in S1 include the drag coefficient, the lift coefficient and the additional mass coefficient.

3. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: S2 identifies the compartment ID information of each module of the assembled AUV, builds a module data mapping system, and matches it with all module combinations in S1. The specific method for determining whether the AUV is assembled correctly includes: S2-1, identify each compartment ID of the AUV one by one through the CAN bus; S2-2, match each compartment ID with all module combinations in S1. If they match, execute S2-4; if not, execute S2-3; S2-3, determine that the AUV assembly is wrong, and feed back the error information to the host computer. The host computer provides the correct assembly sequence guidance, adjusts the assembly sequence according to the assembly sequence guidance, and then returns to execute S2-2; S2-4, AUV assembly is completed.

4. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 3, characterized in that: The compartment IDs of the AUV described in S2-1 include: The ID of the modular bow section with load is: 011, and the ID of the modular bow section without load is:

010. The ID of the front multi-mode auxiliary propulsion section is: 02, the ID of the payload section is: 03, and the ID of the core section is:

04. The navigation segment ID with additional lithium battery is: 051, and the navigation segment ID without additional lithium battery is:

050. The ID of the rear multi-modal auxiliary propulsion section is: 06, and the ID of the modular stern section is:

07.

5. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: S4 reads various preset data of the modular AUV specifically including: Hydrodynamic coefficients, weight, center of buoyancy position, onboard load details, battery charge, propulsion mode settings and thrust distribution matrix; Among them, the battery power is monitored in real time.

6. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: The self-checking procedure described in S4 specifically includes: After the preset data of the modular AUV is read, the self-check procedure is automatically executed; When there is a hardware failure, software configuration error, or data transmission anomaly, the debugging interface displays the corresponding error code and possible causes; Repair faults, including hardware inspection, software adjustment, and parameter reconfiguration; After the repair is complete, execute the self-test procedure again until there are no errors.

7. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: The execution of the adaptive adjustment posture structure inspection in S4 specifically includes: Simulate stress changes under different working conditions, verify the attitude control algorithm, adjust the limit settings, optimize the response speed and stability, and complete the adaptive adjustment attitude structure verification.

8. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: S5 The onshore load test of the modular AUV specifically includes: Basic test tasks and derived test tasks; The basic test tasks include: radio communication data reception, Iridium communication signal capture, Doppler velocimeter DVL data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed precision control, motor status real-time query and depth data acquisition; The derivative test tasks include: receiving underwater acoustic communication data, obstacle avoidance sonar data and CTD data, and the CTD data includes conductivity, temperature and depth.

9. The method for adaptive attitude control of a self-reconfigurable modular AUV according to claim 1, characterized in that: The specific method of acquiring the attitude data of the modular AUV in real time and adaptively adjusting the attitude of the modular AUV according to the attitude data, the center of gravity and the position relationship of the stepper motor in S7 includes: S7-1, acquiring attitude data of the modular AUV in real time, wherein the attitude data includes pitch angle attitude information; S7-2, calculating the posture error with the preset posture target according to the current posture data, the center of gravity and the position relationship of the stepper motor; S7-3, calculating the required torque magnitude and direction according to the posture error obtained in S7-2; S7-4, generating a rotation direction control instruction and a speed control instruction of the stepper motor according to the torque magnitude and direction obtained by S7-3; S7-5, adjusting the attitude of the modular AUV according to the rotation direction control command and speed control command of the stepper motor.

10. The method for adaptive attitude control of a self-reconfigurable modular AUV according to any one of claims 1 to 9, characterized in that: There are 24 combinations of all modules, and there are 6 AUV configurations corresponding to the 24 module combinations.

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