An adaptive posture regulation method for a self-reconfigurable modular AUV

Abstract

The application discloses an adaptive posture regulation method of a self-reconfigurable modular AUV and belongs to the technical field of self-reconfigurable modular autonomous underwater vehicles. In order to solve the problem that the performance of the self-reconfigurable modular AUV is negatively affected by the change of the barycenter, the application comprises the following steps: measuring the weight distribution, the barycenter position and the float center position of all combinations, and calculating the hydrodynamic coefficients of the corresponding AUV configurations; identifying the cabin section ID information of each module of the assembled AUV, matching the module combinations, and judging whether the assembly is accurate; matching the cabin section ID with the thrust distribution matrix, the barycenter position, the float center position, the weight distribution and the hydrodynamic coefficients one by one; carrying out onshore, onshore load testing and onshore task deployment on the modular AUV; acquiring the posture data in real time, and according to the posture data, the barycenter and the position relationship of the step motor, the posture of the modular AUV is adaptively adjusted to reach the preset posture target and keep a balanced state. The application is used for the self-reconfigurable modular autonomous underwater vehicle.

Description

TECHNICAL FIELD

[0001] The application relates to an adaptive posture control method of a self-reconfigurable modular AUV and belongs to the technical field of self-reconfigurable modular autonomous underwater vehicles. BACKGROUND

[0002] In exploring complex and resource-rich underwater environments, self-reconfigurable modular autonomous underwater vehicles (AUVs) are gradually demonstrating their unique advantages and potential as a cutting-edge underwater exploration and operation platform. This type of AUV achieves rapid replacement and combination of functional modules through modular design, thereby flexibly adjusting its operational capabilities and modes according to specific task requirements. However, the flexibility and configurability brought about by modular design also presents a major technical challenge: after replacing modules (such as payloads, propulsion methods, etc.), the center of gravity and the center of buoyancy, as well as the hydrodynamic performance, change. This change results in the need for AUVs to spend a lot of time on manual adjustment, even under modular design, which not only reduces operational efficiency but also reduces the flexibility and convenience that modular design is supposed to bring, thereby to some extent weakening the practical application value of modularity and reducing the significance of modular AUVs.

[0003] Changes in the center of gravity have a profound impact on the navigation performance and operational efficiency of AUVs. On the one hand, a shift in the center of gravity can disrupt the static and dynamic stability of the AUV, increasing unstable movements such as rolling and pitching, which can severely affect its navigation accuracy and operational capabilities. On the other hand, changes in the center of gravity can also adversely affect the buoyancy balance of the AUV, causing changes in buoyancy state under different water depths and different flow conditions, increasing energy consumption, reducing endurance, and even causing safety hazards. In-depth research shows that the complexity and uncertainty of the underwater environment further exacerbate the severity of this problem. For example, factors such as changes in water flow, undulating seafloor topography, and the presence of underwater obstacles can significantly affect the navigation state of the AUV, making the negative impact of center of gravity changes on its performance more prominent.

[0004] To address this challenge, current research mainly focuses on two aspects: one is to optimize module design, such as adopting more reasonable weight distribution, more scientific module layout, and more advanced manufacturing processes, to reduce the impact of center of gravity changes on AUV performance; the other is to introduce advanced control systems and algorithms, such as attitude control algorithms, buoyancy adjustment algorithms, and intelligent path planning algorithms, to realize real-time monitoring and dynamic adjustment of the AUV state. However, these methods still have many limitations and challenges in practical application, such as the optimization of module design being subject to technical feasibility and manufacturing cost constraints, and the performance of the control system being limited by factors such as sensor accuracy, algorithm complexity, and computing resources.

[0005] Therefore, how to effectively deal with the problem of the center of gravity of the modular AUV is a problem that needs to be solved urgently in the development of the modular autonomous underwater vehicle. SUMMARY

[0006] The application aims to solve the problem that the change of the center of gravity of the self-reconfigurable modular AUV causes negative effects on its performance, and provides a self-adaptive attitude control method for a self-reconfigurable modular AUV.

[0007] The self-adaptive attitude control method for the self-reconfigurable modular AUV comprises the following steps:

[0008] S1, determining the weight distribution, the center of gravity position and the center of buoyancy position of all AUV module combinations, and calculating the hydrodynamic coefficients of the AUV configurations corresponding to the module combinations;

[0009] S2, constructing a module data mapping system by identifying the cabin section ID information of each module of the assembled AUV, matching all the module combinations in S1, judging whether the AUV is assembled accurately, repairing when there is an assembly fault, and until the assembly is accurate;

[0010] S3, matching the preset thrust distribution scheme for all module combinations to obtain a thrust distribution matrix, and matching the thrust distribution matrix, the center of gravity position, the center of buoyancy position, the weight distribution and the hydrodynamic coefficients for each cabin section ID one by one;

[0011] S4, carrying out onshore debugging for the modular AUV, executing a self-checking program according to the preset data of the modular AUV, and executing a self-adaptive adjustment attitude structure inspection;

[0012] S5, matching the current debugging environment to obtain a test task set, and carrying out onshore load testing for the modular AUV;

[0013] S6, constructing a task framework of the modular AUV, and carrying out onshore task deployment for the modular AUV according to the load type and the task demand;

[0014] S7, obtaining attitude data of the modular AUV in real time, and performing self-adaptive adjustment of the attitude of the modular AUV according to the position relationship between the attitude data, the center of gravity and 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 added mass coefficient.

[0016] Preferably, the specific method for matching all the module combinations in S2 by identifying the cabin section ID information of each module of the assembled AUV, constructing a module data mapping system, and judging whether the AUV is assembled accurately comprises:

[0017] S2-1, identifying each cabin section ID of the AUV one by one through the CAN bus;

[0018] S2-2, matching each cabin section ID with all module combinations in S1, if matching, executing S2-4, if not matching, executing S2-3;

[0019] S2-3, determining AUV assembly error, feeding error information to the host computer, the host computer providing correct assembly sequence guidance, adjusting the assembly sequence according to the assembly sequence guidance, and then returning to execute S2-2;

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

[0021] Preferably, the each cabin section ID of the AUV in S2-1 comprises:

[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-modal auxiliary propulsion section is 02, the ID of the load section is 03, and the ID of the core section is 04,

[0024] The ID of the navigation section with additional lithium battery is 051, and the ID of the navigation section 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] Preferably, the reading of each preset data of the modular AUV in S4 specifically comprises:

[0027] hydrodynamic coefficients, weight, center of buoyancy position, details of carried load, battery capacity, propulsion mode setting and thrust distribution matrix;

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

[0029] Preferably, the executing of the self-checking program in S4 specifically comprises:

[0030] After reading each preset data of the modular AUV, the self-checking program is automatically executed;

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

[0032] Repairing the fault, including hardware inspection, software adjustment and parameter reconfiguration;

[0033] After the repair is completed, the self-checking program is executed again until there is no error.

[0034] Preferably, the S4 performs adaptive adjustment posture structure test specifically includes:

[0035] The stress changes under different working conditions are simulated to verify the posture control algorithm, adjust the limit setting, optimize the response speed and stability, and complete the adaptive adjustment posture structure verification.

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

[0037] Basic test tasks and derived test tasks;

[0038] The basic test tasks include: radio communication data receiving, Iridium communication signal capturing, Doppler velocity log (DVL) data reading, Beidou / GPS positioning system calibration, inertial navigation data receiving, motor speed accurate control, motor state real-time inquiry and depth data acquisition;

[0039] The derived 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 S7 real-time acquires the posture data of the modular AUV, and according to the positional relationship among the posture data, the center of gravity and the stepper motor, the adaptive adjustment of the posture of the modular AUV is carried out.

[0041] S7-1, real-time acquisition of the posture data of the modular AUV, the posture data including pitch angle posture information;

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

[0043] S7-3, according to the posture error obtained in S7-2, the size and direction of the required torque are calculated;

[0044] S7-4, according to the size and direction of the torque obtained in S7-3, the rotation direction control instruction and the speed control instruction of the stepper motor are generated;

[0045] S7-5, according to the rotation direction control instruction and the speed control instruction of the stepper motor, the posture of the modular AUV is adjusted.

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

[0047] The self-reconfigurable modular AUV adaptive posture regulation method provided by the application can monitor the state of each functional module after self-reconfiguration in real time, and intelligently adjust the float state and operation parameters of the AUV, thereby significantly improving the autonomous operation ability, task execution efficiency and overall stability of the AUV. Through the dynamic and adaptive intelligent adjustment method, the problem of center of gravity change of the modular AUV can be effectively solved, the method has high universality and expandability, and can provide strong technical support and theoretical guidance for the modular design, intelligent upgrading and complex task execution ability of underwater vehicles, and promote the technical progress and development of underwater exploration and operation. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 is a flowchart of the self-reconfigurable modular AUV adaptive posture regulation method described in the application;

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

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

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

[0052] Figure 5 is a method flowchart of the onshore load test of the modular AUV;

[0053] Figure 6 is a method flowchart of the onshore task deployment of the modular AUV;

[0054] Figure 7 is a method flowchart of the self-adjustment of the launching of the modular AUV;

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

[0056] Figure 9 is a structural schematic diagram of the first modular AUV configuration described in the application;

[0057] Figure 10 is a structural schematic diagram of the second modular AUV configuration described in the application;

[0058] Figure 11 is a structural schematic diagram of the third modular AUV configuration described in the application;

[0059] Figure 12 is a structural schematic diagram of the fourth modular AUV configuration described in the application;

[0060] Figure 13 is a structural schematic diagram of the fifth modular AUV configuration described in the present application;

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

[0062] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0063] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0064] The present application will be further described below with reference to the drawings and specific embodiments, but is not limited by the embodiments.

[0065] Embodiment 1:

[0066] The present application will be further described below with reference to the drawings and specific embodiments, but is not limited by the embodiments. Figures 1-14 The present application will be further described below with reference to the drawings and specific embodiments, but is not limited by the embodiments.

[0067] S1, the weight distribution, the center of gravity position and the floating center position of all AUV module combinations are measured, and the hydrodynamic coefficients of the module combinations corresponding to the AUV configurations are calculated;

[0068] S2, by identifying the cabin section ID information of each module of the assembled AUV, a module data mapping system is constructed, matched with all the module combinations in S1, whether the AUV is assembled accurately is judged, and when there is an assembly fault, the assembly is repaired until the assembly is accurate;

[0069] S3, the preset thrust distribution scheme is matched for all module combinations to obtain a thrust distribution matrix, and the thrust distribution matrix, the center of gravity position, the floating center position, the weight distribution and the hydrodynamic coefficient are matched for each cabin section ID one by one;

[0070] S4, the modular AUV is debugged on shore, a self-checking program is executed according to the preset data of the modular AUV, and an adaptive adjustment attitude structure inspection is executed;

[0071] S5, the current debugging environment is matched to obtain a test task set, and the modular AUV is subjected to onshore load testing;

[0072] S6, constructing a task framework of the modular AUV, deploying the modular AUV on the shore according to the load type and the task requirement;

[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 positional relationship among the attitude data, the center of gravity and the stepper motor, so that the modular AUV reaches the preset attitude target and maintains a balanced state.

[0074] Further, the key hydrodynamic coefficients in S1 include a drag coefficient, a lift coefficient and an added mass coefficient.

[0075] Further, the specific method for judging whether the AUV is assembled accurately by matching the cabin section ID information of each module of the assembled AUV with all the module combinations in S1 in S2 includes:

[0076] S2-1, identifying the cabin section ID of each module of the AUV through the CAN bus one by one;

[0077] S2-2, matching each cabin section ID with all the module combinations in S1, if the matching is successful, executing S2-4, and if the matching is unsuccessful, executing S2-3;

[0078] S2-3, determining that the AUV is assembled incorrectly, feeding back error information to the upper computer, providing correct assembly sequence guidance by the upper computer, adjusting the assembly sequence according to the assembly sequence guidance, and then returning to execute S2-2;

[0079] S2-4, the AUV is assembled.

[0080] Further, the cabin section ID of each module of the AUV in S2-1 includes:

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

[0082] The front multi-modal auxiliary propulsion section ID is 02, the load section ID is 03, and the core section ID is 04,

[0083] The navigation section ID with additional lithium batteries is 051, and the navigation section ID without additional lithium batteries is 050,

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

[0085] Further, the specific pre-set data of the modular AUV in S4 includes:

[0086] hydrodynamic coefficients, weight, center of buoyancy position, details of carried load, battery capacity, propulsion mode setting and thrust distribution matrix;

[0087] wherein the battery power is monitored in real time.

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

[0089] After the reading of the preset data of the modular AUV is completed, the self-checking procedure is automatically executed;

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

[0091] The fault is repaired, including hardware inspection, software adjustment, and parameter reconfiguration;

[0092] After the repair is completed, the self-checking procedure is executed again until there is no error.

[0093] Further, the adaptive adjustment of the attitude structure in S4 specifically includes:

[0094] The stress changes under different working conditions are simulated to verify the attitude control algorithm, adjust the limit setting, optimize the response speed and stability, and complete the adaptive adjustment of the attitude structure verification.

[0095] Further, the onshore load test of the modular AUV in S5 specifically includes:

[0096] Basic test tasks and derivative test tasks;

[0097] The basic test tasks include radio communication data reception, Iridium communication signal capture, Doppler velocity log (DVL) data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed accurate control, motor state real-time inquiry, and depth data accurate acquisition.

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

[0099] Further, the specific method of S7 for real-time acquisition of attitude data of the modular AUV and adaptive adjustment of the attitude of the modular AUV according to the positional relationship among the attitude data, the center of gravity, and the stepper motor includes:

[0100] S7-1, real-time acquisition of attitude data of the modular AUV, the attitude data including pitch angle attitude information;

[0101] S7-2, calculation of attitude error from the preset attitude target according to the positional relationship among the current attitude data, the center of gravity, and the stepper motor;

[0102] S7-3, calculating the torque size and direction required by the attitude error obtained in S7-2;

[0103] S7-4, generating the rotating direction control instruction and the speed control instruction of the stepping motor according to the torque size and direction obtained in S7-3;

[0104] S7-5, adjusting the attitude of the modular AUV according to the rotating direction control instruction and the speed control instruction of the stepping motor.

[0105] Further, the 24 module combinations are combined into 24 kinds, and the AUV configurations corresponding to the 24 kinds of module combinations are 6 kinds.

[0106] In the present application, as shown in Figure 1 The present application is a kind of adaptive attitude control method of modular AUV, S1 is precise pre-experiment and data determination, for 24 different module combinations, through precise pre-experiment, the weight distribution, barycenter and float center position of each combination are determined.The measurement of 6 groups of key hydrodynamic coefficients, including drag coefficient, lift coefficient, additional mass coefficient, etc., provides data basis for subsequent intelligent adjustment.24 different module combinations are shown in Table 1, and the corresponding 6 kinds of AUV configurations are shown in Table 2, and the 6 kinds of AUV configurations are shown in Figures 9-14 .

[0107] Table 1

[0108]

[0109] Table 2

[0110]

[0111] S2 is the assembly stage of the modular AUV, and the flow chart is as shown in Figure 2As shown in the assembly process of the modular autonomous underwater vehicle (AUV). First, the system identifies the ID of each cabin section one by one through the CAN bus, which includes the modular bow section (with / without load) (ID: 011 / 010), the multi-modal auxiliary propulsion section (front) (ID: 02), the load 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 identification, the system matches these information with the 24 module combination conditions determined in the pre-experiment to determine which condition the currently assembled AUV belongs to. If the identification result does not conform to any of the pre-experiment conditions, the system determines that the assembly is incorrect and immediately displays error information on the host computer interface, while providing correct assembly sequence guidance. The operator needs to manually adjust the assembly sequence according to the host computer's instructions until it meets one of the pre-experiment conditions. This process ensures the accuracy and efficiency of AUV assembly.

[0112] S3 is the modular AUV reading module parameter stage, the flow chart is as Figure 3 As shown in the system deployment process of the modular autonomous underwater vehicle (AUV), the system needs to accurately identify the cabin section ID. Specifically, the system needs to match the pre-set thrust distribution matrix, center of gravity position, center of buoyancy position, total weight and hydrodynamic coefficient and other key data one by one. The thrust distribution matrix, as the control basis for AUV attitude control, its acquisition process needs to match the pre-set thrust distribution scheme according to the 24 module combination conditions of the AUV. These matrices detail the thrust distribution relationship between each propeller, providing the necessary support for accurate attitude control of the AUV in underwater environment. The reading of hydrodynamic coefficients comes from the coefficient library constructed, which forms 6 AUV configurations for the 24 combination schemes of the modular AUV, and pre-sets 6 complete sets of hydrodynamic coefficients for each configuration. These coefficient sets cover key parameters such as drag coefficient, lift coefficient and added mass coefficient, and are an important basis for stable maneuvering and control of AUV in complex underwater environment. In the subsequent attitude control algorithm, these coefficients will play a crucial role to ensure that the AUV can accurately respond to control instructions and achieve efficient underwater operation. After successfully reading and analyzing all the above parameters, the modular AUV enters the water deployment self-adjustment stage.

[0113] S4 is the onshore debugging stage of the modular AUV, the flow chart is as Figure 4As shown, the modular AUV onshore debugging stage is an important link to ensure that the AUV functions normally and parameters accurately before launching. The host computer reads the preset data of the AUV, which covers the core physical properties and working state information of the AUV, including but not limited to hydrodynamic coefficients, weight, center of buoyancy position, details of carried load, battery power (which needs to be monitored in real time), propulsion mode setting, and thrust distribution matrix, etc. Except for the battery power, the rest of the data is based on the data obtained from the previous precise experiment, which ensures the basic accuracy of the debugging. After the data reading is completed, the system automatically executes the self-checking program, which aims to identify and report potential hardware failures, software configuration errors or data transmission abnormalities. Once a problem is found, the debugging interface displays the error code and possible causes, guiding the technical personnel to carry out targeted manual intervention and repair. This process may involve checking the hardware, adjusting the software or reconfiguring the parameters until all problems are solved and the self-checking program has no error prompt. After the self-checking is completed, the adaptive adjustment posture structure verification link is entered, which is to verify whether the posture control system of the AUV can automatically adjust according to the actual working condition to maintain the structure stable and ensure its precise control ability in complex underwater environment. By simulating the stress changes under different working conditions, the system finely checks the posture control algorithm and adjusts the limit setting if necessary to optimize the response speed and stability. After completing the above verification, the AUV enters the next stage of debugging.

[0114] S5 is the onshore load test stage of the modular AUV, and the flow chart is as shown in Figure 5 As shown in the flow chart, in the onshore load test stage of the modular autonomous underwater vehicle (AUV), the system first accurately matches the current debugging environment by identifying the modules to determine the applicable test task set. The test tasks are divided into two categories: basic test tasks and derived test tasks. The basic tasks are the function verification of the core cabin, including radio communication data reception, Iridium communication signal capture, DVL (Doppler velocity log) data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed accurate control, motor state real-time query, and depth data accurate acquisition. These basic tasks are to ensure the stable operation of the core functions of the AUV. The user can select the required basic test tasks and the load derived test tasks according to the task requirements, such as receiving underwater acoustic communication data, obstacle avoidance sonar data, and CTD (conductivity, temperature, depth) data, etc. Once all the selected tasks are successfully executed and verified, the system will automatically enter the next stage of debugging process.

[0115] S6 is the onshore task deployment stage of the modular AUV, and the flow chart is as shown in Figure 6As shown, during the onshore deployment task phase of the modular autonomous underwater vehicle (AUV), the AUV enters the task deployment link after completing the comprehensive self-checking process. First, system initialization is performed to build and establish the deployment task framework. Then, according to the specific load type and task requirements carried by the AUV, each task is deployed in the host computer. The deployment process needs to ensure that the logic between tasks is clear, coordinated with each other, and fully considers the compatibility and data interaction requirements between loads. Once all tasks are accurately deployed to the host computer and are verified to be correct, the next stage of debugging process is entered.

[0116] S7 is the self-adjusting phase of the modular AUV launching deployment, and the flow chart is as shown in Figure 7 Figure 8 is the method flow chart of the self-adaptive adjustment process of the center of gravity of the modular AUV, and the center of gravity of the AUV launching deployment self-adaptive self-adjusting phase, the system reads the pitch angle attitude information, and then calculates the relative position relationship between the center of gravity and the stepper motor, which includes the relative distance and angle between them. Based on the above data, the system starts to adjust the center of gravity adaptive attitude, aiming to adjust the AUV to a balanced state. This process first involves error calculation, that is, according to the current attitude data, the position relationship between the center of gravity and the stepper motor, and the preset attitude target, the attitude error is accurately calculated. Then, the system further calculates the size and direction of the required torque according to the attitude error. Then, the system generates the control command of the stepper motor, which specifies the key parameters such as the rotation direction and speed of the motor 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 adjusts the attitude of the AUV according to the monitoring results to ensure that it always remains in a balanced state.

[0117] Up to now, there is no relevant patent disclosed in this field. The existing modular autonomous underwater vehicle (AUV) patents do not cover the attitude self-adjustment technology after self-reconfiguration. At the same time, the existing underwater robot devices do not consider the combination with modular AUV in attitude self-adjustment. The present application can monitor the state of each functional module after self-reconfiguration in real time and intelligently adjust the float state and operating parameters of the AUV, thereby significantly improving its autonomous operation ability, task execution efficiency and overall stability. This solution not only has high universality and scalability, but also can provide strong technical support and theoretical guidance for the modular design, intelligent upgrade and complex task execution ability of underwater vehicles, and promote the technological progress and development of underwater exploration and operation field.

[0118] ​The present application is directed to the problem that after the modular AUV replaces the module (load, propulsion mode, etc.), the center of gravity, the center of buoyancy and the hydrodynamic performance change, resulting in the need for long time manual adjustment, which seriously affects the operation efficiency and reduces the flexibility and convenience advantage of modular design. An innovative dynamic adaptive intelligent adjustment method is proposed. Through precise pre-experiment, the weight distribution, the center of gravity and the center of buoyancy of 24 module combinations are measured, and 6 key hydrodynamic coefficients are accurately calculated, laying a solid foundation for intelligent adjustment. On the technical scheme, the present application uses CAN bus protocol to accurately identify the ID information of each module of AUV, and constructs a module data mapping system. On this basis, sensor technology, intelligent algorithm and dynamic adjustment strategy are integrated to monitor the state of each functional module after reconfiguration in real time, and intelligently adjust the float state and operating parameters of AUV. The system automatically adjusts the float state parameters according to the task requirements and navigation environment, significantly improving the autonomous operation ability, task execution efficiency and overall stability of AUV. In addition, the dynamic adaptive intelligent adjustment method proposed by the present application has high universality and scalability, which is not only suitable for the known self-reconfigurable modular AUV platform, but also can be extended to more types of modular AUV in the future, providing strong technical support and theoretical guidance for the modular design, intelligent upgrading and complex task execution ability of underwater vehicles. In summary, the present application has significant innovation and advancement in technology, showing wide application prospect and important scientific research value, and opening up a new direction for the intelligentization and autonomy development of underwater vehicles.

[0119] While the application has been described with reference to particular embodiments, it will be understood that the examples are for illustration only and that the principles and applications of the present application can be used in many other arrangements without departing from the spirit and scope of the present application as defined in the appended claims. It will be understood that the features described in relation to one embodiment can be used in other embodiments.

Claims

1. An adaptive posture control method for a self-reconfigurable modular AUV, characterized in that, It comprises: S1, determining the weight distribution, center of gravity position and center of buoyancy position of all AUV module combinations, and calculating the hydrodynamic coefficients of the corresponding AUV configuration of the module combination; S2, by identifying the cabin section ID information of each module of the assembled AUV, a module data mapping system is constructed, matched with all module combinations in S1, to determine whether the AUV is assembled accurately, and repaired if there is an assembly fault until the assembly is accurate; S3, matching the pre-set thrust distribution scheme for all module combinations, obtaining the thrust distribution matrix, and matching the thrust distribution matrix, center of gravity position, center of buoyancy position, weight distribution and hydrodynamic coefficient for each cabin section ID; S4, onshore debugging of the modular AUV, executing a self-checking program according to the preset data of the modular AUV, and executing an adaptive adjustment attitude structure inspection; S5, matching the current debugging environment to obtain a test task set, and performing onshore load testing on the modular AUV; S6, constructing a task framework of the modular AUV, and performing onshore task deployment on the modular AUV according to the load type and task demand; S7, real-time acquisition of attitude data of the modular AUV, adaptive adjustment of the attitude of the modular AUV according to the position relationship of the attitude data, center of gravity and stepper motor, so that the modular AUV reaches the preset attitude target and maintains a balanced state.

2. The adaptive posture control method for self-reconfigurable modular AUV according to claim 1, wherein, The hydrodynamic coefficient in S1 includes the drag coefficient, lift coefficient and added mass coefficient.

3. The adaptive posture control method for self-reconfigurable modular AUV according to claim 1, wherein, The specific method of S2 for identifying the cabin section ID information of each module of the assembled AUV, constructing a module data mapping system, matching with all module combinations in S1, and determining whether the AUV is assembled accurately comprises: S2-1, identifying each cabin section ID of the AUV through the CAN bus one by one; S2-2, matching each cabin section ID with all module combinations in S1, if it can be matched, executing S2-4, if it cannot be matched, executing S2-3; S2-3, determining that the AUV is assembled incorrectly, feeding back error information to the upper computer, the upper computer providing correct assembly sequence guidance, adjusting the assembly sequence according to the assembly sequence guidance, and then returning to execute S2-2; S2-4, AUV assembly is completed.

4. The adaptive posture control method for self-reconfigurable modular AUV according to claim 3, wherein, The cabin section ID of each module of the AUV in S2-1 comprises: 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-modal auxiliary propulsion section is 02, the ID of the load section is 03, and the ID of the core section is 04, The ID of the navigation section with additional lithium battery is 051, and the ID of the navigation section 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 adaptive posture control method for self-reconfigurable modular AUV according to claim 1, wherein, The specific preset data of the modular AUV in S4 comprises: hydrodynamic coefficient, weight, center of buoyancy position, details of carried load, battery capacity, propulsion mode setting and thrust distribution matrix; Among them, the battery capacity is monitored in real time.

6. The adaptive posture control method for self-reconfigurable modular AUV according to claim 1, wherein, The specific execution of the self-checking program in S4 comprises: After reading the preset data of the modular AUV, the self-checking program 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 the fault, including hardware inspection, software adjustment and parameter reconfiguration; After repair, perform the self-checking program again until there is no error.

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

8. The adaptive posture control method for self-reconfigurable modular AUV according to claim 1, wherein, The onshore load test of the modular AUV of S5 specifically includes: Basic test tasks and derivative test tasks; The basic test tasks include: radio communication data reception, Iridium communication signal capture, Doppler velocity log (DVL) data reading, Beidou / GPS positioning system calibration, inertial navigation data reception, motor speed accurate control, motor state real-time query and depth data acquisition; The derivative test tasks include: receiving underwater acoustic communication data, obstacle avoidance sonar data and CTD data, the CTD data including conductivity, temperature and depth.

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

10. The adaptive posture control method of a self-reconfigurable modular AUV according to any one of claims 1-9, characterized in that, The 24 module combinations correspond to 6 AUV configurations.

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