Joint manipulation control method for underwater vehicle during advancing based on'heavy buoyancy and rudder '

Abstract

The invention discloses a joint manipulation control method for underwater vehicle advancing based on'heavy buoyancy + rudder 'and an underwater vehicle. The joint manipulation control method comprises the following steps: acquiring a balance attack angle and a balance rudder angle of the underwater vehicle at the current moment; using a preset self-balancing control algorithm to iteratively feed back and control the water injection / drainage amount and the head-tail water displacement amount of a bow water tank and / or a stern water tank of the underwater vehicle, so that the balance attack angle and the balance rudder angle both tend to be zero, and obtaining a control result of the underwater vehicle; according to the control method, the water injection / drainage amount and the head and tail water moving amount of the bow water tank and / or the stern water tank of the underwater vehicle are controlled in a feedback mode, the problem that the navigation quality is reduced due to the fact that the initial balance weight buoyancy is too large can be solved, and in the navigation process, the control result of the underwater vehicle is output. The water injection / drainage amount and the head-tail water moving amount of the bow water tank and / or the stern water tank of the underwater vehicle are controlled in a feedback mode, the balance attack angle and the balance rudder angle can be effectively reduced, and therefore the resistance in the navigation process is greatly reduced, energy is saved, and the operation time is prolonged.

Description

Technical Field

[0001] The present application relates to the field of a method for joint maneuvering and controlling an underwater vehicle while moving based on "gravity buoyancy + rudder", and in particular to a method for joint maneuvering and controlling an underwater vehicle while moving based on "gravity buoyancy + rudder" and an underwater vehicle. Background Art

[0002] When an autonomous underwater vehicle (AUV) performs a diving mission or operates at different depths, its own buoyancy will change with the depth. This is mainly due to the inconsistency between the physical parameters of the AUV and seawater (for example, the volume compression rate of the AUV itself under different pressures and the temperature contraction rate and density change rate of seawater at different depths). The emergence of unbalanced forces and unbalanced moments will change the equilibrium state of the vehicle, thereby increasing the vehicle's balanced attack angle and balanced rudder angle, increasing the vehicle's navigation resistance, and aggravating the vehicle's energy consumption, resulting in a shortened operation time and reduced operation quality. Summary of the invention

[0003] The main purpose of the present application is to provide a method for joint manipulation and control of an underwater vehicle while moving based on "gravity buoyancy + rudder" and an underwater vehicle, aiming to solve the technical problems of the method for joint manipulation and control of an underwater vehicle while moving based on "gravity buoyancy + rudder".

[0004] In order to achieve the above-mentioned purpose, the present application provides a method for joint maneuvering and controlling an underwater vehicle while moving based on "gravity buoyancy + rudder", including: obtaining the balance angle of attack and balance angle of rudder of the underwater vehicle at the current moment; using a preset self-balancing control algorithm to iteratively feedback control the filling / discharge volume and bow and stern water transfer volume of the bow water tank and / or stern water tank of the underwater vehicle, so that the balance angle of attack and the balance angle of rudder both tend to zero, and obtain the control result of the underwater vehicle; and outputting the control result of the underwater vehicle.

[0005] Optionally, the iterative feedback control of the filling / discharge value and the bow and stern water transfer value of the bow water tank and / or the stern water tank of the underwater vehicle using a preset self-balancing control algorithm so that the balanced attack angle and the balanced rudder angle both tend to zero includes: obtaining a displacement calculation expression and a bow and stern water transfer calculation expression preset in the self-balancing control algorithm; calculating the filling / discharge value and the bow and stern water transfer value of the bow water tank and / or the stern water tank of the underwater vehicle based on the displacement calculation expression and the bow and stern water transfer calculation expression. The fore and aft water transfer value; according to the injection / discharge value and the fore and aft water transfer value, the bow water tank and / or the stern water tank of the underwater vehicle are controlled to inject / discharge a corresponding amount of water, so as to obtain a new balance angle of attack and a new balance rudder of the underwater vehicle after one round of iterative feedback control; according to the new balance angle of attack and the new balance rudder, the next round of iterative feedback control of the injection / discharge value and the fore and aft water transfer value of the bow water tank and / or the stern water tank of the underwater vehicle is started until the balance angle of attack and the balance rudder angle both tend to zero.

[0006] Optionally, the method further comprises: acquiring depth data, attitude angle data and attitude angular velocity data of the underwater vehicle; inputting the depth data, the attitude angle data and the attitude angular velocity data into the PID control algorithm to obtain a bow horizontal rudder angle, a bow vertical rudder angle, a stern horizontal rudder angle, a stern vertical rudder angle and a stern differential rudder angle of the underwater vehicle;

[0007] The bow rudder and stern rudder of the underwater vehicle are feedback-controlled by utilizing the bow horizontal rudder angle, the bow vertical rudder angle, the stern horizontal rudder angle, the stern vertical rudder angle and the stern differential rudder angle.

[0008] Optionally, obtaining the balance angle of attack and balance rudder angle of the underwater vehicle at a current moment includes: determining the bow balance angle of attack based on the bow horizontal rudder angle and the bow vertical rudder angle, and determining the stern balance angle of attack based on the stern horizontal rudder angle and the stern vertical rudder angle; obtaining the bow balance rudder angle based on the bow horizontal rudder angle, and obtaining the stern balance rudder angle based on the stern horizontal rudder angle.

[0009] Optionally, the preset displacement calculation expression and head-to-tail water transfer calculation expression include:

[0010]

[0011] Among them, the coefficient a i , b i (i=1, 2, 3) is the equilibrium constant,

[0012] Z′ w , and are the hydrodynamic parameters of the underwater vehicle, M′ w , and M′ θ are the hydrodynamic moment parameters of the underwater vehicle, ρ is the seawater density, L is the length of the underwater vehicle, V is the speed of the underwater vehicle, and L vbs The distance between the bow and stern buoyancy adjustment tanks of the underwater vehicle, δ b Bow horizontal rudder angle, δ s Stern horizontal rudder angle, θ is the balanced angle of attack.

[0013] In addition, in order to achieve the above-mentioned purpose, the present application also provides an underwater vehicle, including: a first variable buoyancy device, a second variable buoyancy device, a self-balancing controller and at least two data collectors; the first variable buoyancy device and the second variable buoyancy device are respectively arranged at the bow and stern of the underwater vehicle, and the first variable buoyancy device and the second variable buoyancy device are both communicatively connected to the self-balancing controller; at least two of the data collectors are arranged on the underwater vehicle, and at least two of the data collectors are both communicatively connected to the self-balancing controller; wherein at least two of the data collectors are used to collect depth data, attitude angle data and attitude angular velocity data of the underwater vehicle; the self-balancing controller is used to execute the underwater vehicle joint maneuvering control method based on "weight buoyancy + rudder" provided in any of the above-mentioned embodiments to obtain a first control instruction, and send the first control instruction; the first variable buoyancy device and the second variable buoyancy device are used to respond to the first control instruction and inject / discharge a water volume equal to the injection water volume value / discharge water volume value carried by the first control instruction.

[0014] Optionally, it also includes: a steering controller, which is arranged on the underwater vehicle and is communicatively connected to at least two of the data collectors, the steering controller is used to use the PID control algorithm to process the depth data, the attitude angle data and the attitude angular velocity data obtained from at least two of the data collectors, to obtain the bow horizontal rudder angle, bow vertical rudder angle, stern horizontal rudder angle, stern vertical rudder angle and stern differential rudder angle of the underwater vehicle, and use the bow horizontal rudder angle, the bow vertical rudder angle, the stern horizontal rudder angle, the stern vertical rudder angle and the stern differential rudder angle to feedback control the bow rudder and stern rudder of the underwater vehicle.

[0015] Optionally, at least one of the two data collectors is an inertial navigation device, and the inertial navigation device is used to obtain the attitude angle and the attitude angular velocity.

[0016] The embodiment of the present application proposes a method for joint maneuvering and controlling an underwater vehicle while moving based on "weight buoyancy + rudder", and an underwater vehicle, by obtaining the current balance angle of attack and balance angle of the underwater vehicle; using a preset self-balancing control algorithm to iteratively feedback control the filling / discharge volume and the bow and stern water displacement of the bow water tank and / or the stern water tank of the underwater vehicle, so that the balance angle of attack and the balance angle of rudder both tend to zero, and obtain the control result of the underwater vehicle; output the control result of the underwater vehicle, the present application feedback controls the filling / discharge volume and the bow and stern water displacement of the bow water tank and / or the stern water tank of the underwater vehicle, which can improve the problem of reduced navigation quality caused by excessive initial counterweight buoyancy, and during navigation, feedback controls the filling / discharge volume and the bow and stern water displacement of the bow water tank and / or the stern water tank of the underwater vehicle, which can effectively reduce the balance angle of attack and the balance angle of rudder, thereby greatly reducing the resistance during navigation, saving energy, and extending the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of an embodiment of a combined maneuvering control method for an underwater vehicle on the move based on "gravity buoyancy + rudder" provided in this application;

[0018] Figure 2 A schematic diagram of an embodiment of a combined maneuvering control method for an underwater vehicle on the move based on "gravity buoyancy + rudder" provided in this application;

[0019] Figure 3 A schematic diagram of the structure of an underwater vehicle provided in accordance with an embodiment of a method for joint maneuvering and controlling an underwater vehicle while moving based on "gravity buoyancy + rudder" of the present application;

[0020] Figure 4 A depth change diagram of the underwater vehicle under constant depth control provided by the rudder and water combined control method for underwater vehicle movement based on "gravity buoyancy + rudder" in the present application;

[0021] Figure 5 A diagram showing the change of the angle of attack of the underwater vehicle under constant depth control by rudder and water combined control provided in an embodiment of the underwater vehicle moving joint control method based on "gravity buoyancy + rudder" of the present application;

[0022] Figure 6 A diagram showing the change of the rudder angle for controlling the depth of an underwater vehicle under rudder-water combined control based on "gravity buoyancy + rudder" provided in an embodiment of the present application;

[0023] Figure 7 This is a diagram of the filling (discharging) amount of the bow and stern water tanks of an underwater vehicle under rudder water and simultaneous control, provided in an embodiment of a method for combined control of an underwater vehicle while moving based on "gravity buoyancy + rudder" in this application.

[0024] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0025] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0026] In the prior art, each time the payload carried by the AUV is changed, the buoyancy state needs to be roughly adjusted manually, and the manual adjustment process is complicated and the adjustment accuracy is low. In addition, changes in the ocean environment or the release of the mission payload will cause changes in the buoyancy and gravity of the AUV, making it in an unbalanced state, which will lead to increased energy consumption and reduced maneuverability of the AUV during navigation.

[0027] The present application proposes a method for joint maneuvering and controlling an underwater vehicle while on the move based on "gravity buoyancy + rudder" to solve the above-mentioned problems existing in the prior art. The method equips the vehicle with a self-balancing control algorithm, which can dynamically change the buoyancy or gravity of the AUV itself, so as to adapt to environmental changes and better complete the task. In other words, the algorithm can control the AUV to efficiently and high-quality complete the navigation mission of the AUV in different depths and different sea areas. Specifically, during the underwater navigation of the AUV, the control instructions generated by the self-balancing control algorithm are used to simultaneously manipulate the elevator and adjust the static load, thereby realizing the AUV's non-trimmed, constant-speed, straight-line and fixed-depth movement.

[0028] like Figure 2 and Figure 3 As shown, the present application also proposes an underwater vehicle for solving the problems existing in the prior art, the underwater vehicle comprises a first variable buoyancy device 4, a second variable buoyancy device, a self-balancing controller 2 and at least two data collectors 3; the first variable buoyancy device 4 and the second variable buoyancy device 5 are respectively arranged at the bow and stern of the underwater vehicle 1, and the first variable buoyancy device 4 and the second variable buoyancy device 5 are both communicatively connected to the self-balancing controller 2; at least two of the data collectors are arranged on the underwater vehicle 1, and at least two of the data collectors are communicated The signal is connected to the self-balancing controller 2; wherein, at least two of the data collectors are used to collect depth data, attitude angle data and attitude angular velocity data of the underwater vehicle 1; the self-balancing controller 2 is used to execute the underwater vehicle 1 moving joint manipulation control method based on "weight buoyancy + rudder" to obtain a first control instruction, and send the first control instruction; the first variable buoyancy device 4 and the second variable buoyancy device 5 are used to respond to the first control instruction and inject / discharge a water volume equal to the injection water volume value / discharge water volume value carried by the first control instruction.

[0029] like Figure 3As shown, a set of variable buoyancy adjustment devices (i.e., a first variable buoyancy device 4 and a second variable buoyancy device 5) are respectively installed at the bow and stern of the underwater vehicle 1. The variable buoyancy adjustment device can be composed of a water tank, a low-pressure water pump, a reversing valve group and a pump water pipeline. Figure 2 The variable buoyancy regulating device performs corresponding operations according to the instructions of the control computer (i.e., the self-balancing controller 2).

[0030] Continue to refer Figure 2 In an embodiment of the present application, an underwater vehicle 1 also includes a steering controller 6, which is arranged on the underwater vehicle 1 and is communicatively connected to at least two of the data collectors. The steering controller 6 is used to use the PID control algorithm to process the depth data, the attitude angle data and the attitude angular velocity data obtained from at least two of the data collectors to obtain the bow horizontal rudder angle, bow vertical rudder angle, stern horizontal rudder angle, stern vertical rudder angle and stern differential rudder angle of the underwater vehicle 1, and use the bow horizontal rudder angle, the bow vertical rudder angle, the stern horizontal rudder angle, the stern vertical rudder angle and the stern differential rudder angle to feedback control the bow rudder and stern rudder of the underwater vehicle 1.

[0031] Among them, the rudder angle instruction in the control instruction issued by the steering controller 6 is obtained based on the conventional PID algorithm to process the depth data, the attitude angle collection and the attitude angular velocity data, which will not be described in detail here.

[0032] Continue to refer Figure 2 In an embodiment of the present application, one of at least two data collectors 3 is an inertial navigation device, and the inertial navigation device is used to obtain the attitude angle and the attitude angular velocity.

[0033] It should be noted that, among the at least two data collectors 3 , except for one data collector being an inertial navigation device, the other data collectors may be sensors, for example, the sensors may be depth sensors.

[0034] Reference Figure 1 The combined maneuvering control method for the underwater vehicle 1 based on "gravity buoyancy + rudder" may include:

[0035] S10, obtaining the current balanced attack angle and balanced rudder angle of the underwater vehicle 1;

[0036] In one embodiment of the present application, before step S10, the specific execution process of the joint maneuvering control method for the underwater vehicle 1 based on "gravity buoyancy + rudder" during movement can be:

[0037] Acquiring depth data, attitude angle data and attitude angular velocity data of the underwater vehicle 1;

[0038] The depth data, the attitude angle data and the attitude angular velocity data are input into the PID control algorithm to obtain the bow horizontal rudder angle, bow vertical rudder angle, stern horizontal rudder angle, stern vertical rudder angle and stern differential rudder angle of the underwater vehicle 1;

[0039] The bow rudder and stern rudder of the underwater vehicle 1 are feedback-controlled by using the bow horizontal rudder angle, the bow vertical rudder angle, the stern horizontal rudder angle, the stern vertical rudder angle and the stern differential rudder angle.

[0040] The control computer on the underwater vehicle 1 uses the depth, attitude angle and attitude angular velocity of the vehicle as feedback to calculate the bow horizontal rudder angle input δ of the vehicle. b 、Stern horizontal rudder angle input δ s 、Stern vertical rudder angle input δ r and stern differential rudder angle input δ d , these control quantities are sent to the steering gear controller, and the steering gear completes the steering command response, thereby completing the normal navigation task.

[0041] Based on the above steps, the specific execution process of step S10 may be:

[0042] S101, determining a bow balance angle of attack based on a bow horizontal rudder angle and a bow vertical rudder angle, and determining a stern balance angle of attack based on a stern horizontal rudder angle and a stern vertical rudder angle;

[0043] The control computer can obtain the bow balance angle of attack according to the tangent value of the ratio of the bow horizontal rudder angle to the bow vertical rudder angle, and obtain the stern balance angle of attack according to the tangent value of the ratio of the stern horizontal rudder angle to the stern vertical rudder angle.

[0044] S102: Acquire the bow balance rudder angle based on the bow horizontal rudder angle, and acquire the stern balance rudder angle based on the stern horizontal rudder angle.

[0045] Among them, the control computer can use the bow horizontal rudder angle as the bow balance rudder angle, and use the stern horizontal rudder angle as the stern balance rudder angle.

[0046] S20, using a preset self-balancing control algorithm to iteratively feedback control the filling / discharging amount and the bow and stern water transfer amount of the bow water tank and / or the stern water tank of the underwater vehicle 1, so that the balanced attack angle and the balanced rudder angle both tend to zero, and obtain the control result of the underwater vehicle 1;

[0047] In an embodiment of the present application, step S20 may include the following execution process:

[0048] S201, obtaining a displacement calculation expression and a head-to-tail water transfer calculation expression preset in the self-balancing control algorithm;

[0049] Specifically, the preset displacement calculation expressions and head and tail water transfer calculation expressions include:

[0050]

[0051] Among them, the coefficient a i , b i (i=1, 2, 3) is the equilibrium constant,

[0052] Z′ w , and are the hydrodynamic parameters of the underwater vehicle 1, M′ w , and M′ θ are the hydrodynamic moment parameters of the underwater vehicle 1, ρ is the seawater density, L is the length of the underwater vehicle 1, V is the speed of the underwater vehicle 1, and L vbs is the distance between the bow and stern buoyancy adjustment tanks of the underwater vehicle 1, δ b Bow horizontal rudder angle, δ s Stern horizontal rudder angle, θ is the balanced angle of attack.

[0053] Will Denoted as Z(w) 0 , represents the injection and displacement of the hull hydrodynamics when θ=α=1° (kg);

[0054] Will Denoted as Z(δ b ) 0 , indicating δ b =1°, the injection and displacement of the bow rudder hydrodynamics (kg);

[0055] Will Denoted as Z(δ s ) 0 , indicating δ s =1° when the hydrodynamic injection and displacement of the stern rudder (kg);

[0056] Will Denoted as M(w) 0 , represents the bow and stern water adjustment of the hydrodynamic moment of the hull when θ=α=1° (kg);

[0057] Will Denoted as M(δ b ) 0 , indicating δ b = bow and stern water adjustment amount of bow rudder hydrodynamic moment when 1° (kg);

[0058] Will Denoted as M(δ s ) 0, indicating δ s =The bow and stern water adjustment amount of the stern rudder hydrodynamic moment when 1° (kg).

[0059] Arranging the above formulas, we can get

[0060]

[0061] S202, calculating the filling / discharging amount value and the bow and stern water transfer amount value of the bow water tank and / or the stern water tank of the underwater vehicle 1 based on the displacement calculation expression and the bow and stern water transfer amount calculation expression;

[0062] That is to say, according to the above expressions, the filling / discharging amount value and the bow and stern water transfer amount value of the bow water tank and / or the stern water tank can be calculated, wherein the bow water tank and / or the stern water tank can be drained or filled with water at the same time, or can be drained or filled with water separately, and the other remains unchanged, and the flow of water can also be adjusted between the bow water tank and / or the stern water tank, and the water flow value is the water transfer amount value.

[0063] A water filling (discharging) instruction may be generated according to the calculated filling / discharging amount value and the bow / stern water transfer amount value of the bow water tank and / or the stern water tank, and the instruction may be sent to the controlled first variable buoyancy device 4 and the second variable buoyancy device 5.

[0064] S203, controlling the bow water tank and / or the stern water tank of the underwater vehicle 1 to inject / discharge a corresponding amount of water according to the injection / discharge amount value and the bow and stern water transfer amount value, and obtaining a new balance angle of attack and a new balance rudder of the underwater vehicle 1 after one iteration feedback control;

[0065] Specifically, the first variable buoyancy device 4 and the second variable buoyancy device 5 execute corresponding water adjustment instructions. When the water volume in the bow water tank and / or the stern water tank is adjusted to the instruction value, a self-balancing adjustment is completed.

[0066] S204. Starting the next round of iterative feedback control of the filling / discharging amount value and the bow and stern water transfer amount value of the bow water tank and / or the stern water tank of the lower vehicle according to the new balanced angle of attack and the new balanced rudder, until the balanced angle of attack and the balanced rudder angle both tend to zero.

[0067] The underwater vehicle 1 starts the mission, and the data collector collects the current balanced attack angle and balanced rudder angle (including the bow balanced rudder angle) at a given time t (t = 1000 seconds in this application) Balance rudder angle with stern ) information, the self-balancing control algorithm calculates the amount of water to be filled (discharged) in the bow and stern water tanks, and then sends the water value to the bow and stern variable buoyancy devices to adjust the water tank controllers, and the variable buoyancy devices adjust the low-pressure water pumps and reversing valve groups to perform corresponding filling and drainage operations.

[0068] When the set fixed time interval is reached, the above operation is repeated until the balanced attack angle and the balanced rudder angle reach the ideal range, and then the self-balancing control algorithm is terminated.

[0069] S30, outputting the control result of the underwater vehicle 1.

[0070] The control result of the underwater vehicle 1 can be obtained from the simulation. Figure 4 It can be seen that the self-balancing control algorithm is processed every 1000s. With the change of the water volume in the bow and stern tanks, the depth error gradually decreases to 0 after being processed by the self-balancing control algorithm, and Figure 5 and Figure 6 It can be seen that as the self-balancing control algorithm is carried out during movement, the balance angle of attack and the balance angle of rudder are both reduced to 0.

[0071] Figure 7 The water volume (solid line) calculated by the self-balancing controller 2 after being processed by the self-balancing control algorithm and the response of the water volume change in the water tank (dashed line). The initial setting of the simulation is a positive buoyancy of 4000N for the vehicle, and the final adjustment results of the bow and stern water tanks are slightly greater than 4000N. This is due to the zero lift during navigation caused by the up-down asymmetry of the underwater vehicle 1, which makes the gravity of the water intake slightly greater than the initial buoyancy to offset the zero lift generated during navigation, thereby maintaining the force balance of the vehicle in the vertical plane and achieving a navigation state of 0 equilibrium angle of attack and 0 equilibrium rudder angle.

[0072] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for joint maneuvering and controlling an underwater vehicle while on the move based on "gravity and buoyancy + rudder", characterized in that: include: Obtaining the current balance angle of attack and balance angle of the underwater vehicle; Iteratively feedback-control the filling / discharging amount and the fore-aft water displacement amount of the bow water tank and / or the stern water tank of the underwater vehicle by using a preset self-balancing control algorithm, so that the balanced attack angle and the balanced rudder angle both tend to zero, and obtain a control result of the underwater vehicle; The control result of the underwater vehicle is outputted.

2. The combined maneuvering control method for underwater vehicles based on "gravity and buoyancy + rudder" as claimed in claim 1 is characterized in that: The iterative feedback control of the filling / discharging amount value and the bow and stern water displacement amount value of the bow water tank and / or the stern water tank of the underwater vehicle by using a preset self-balancing control algorithm so that the balanced attack angle and the balanced rudder angle both tend to zero includes: Obtaining the displacement calculation expression and the head and tail water transfer calculation expression preset in the self-balancing control algorithm; Calculating the filling / displacement value and the bow and stern water transfer value of the bow water tank and / or the stern water tank of the underwater vehicle based on the displacement calculation expression and the bow and stern water transfer calculation expression; Controlling the bow water tank and / or the stern water tank of the underwater vehicle to inject / discharge a corresponding amount of water according to the injection / discharge amount value and the bow and stern water transfer amount value, so as to obtain a new balance angle of attack and a new balance rudder of the underwater vehicle after one iteration feedback control; The next round of iterative feedback control of the filling / discharging amount value and the bow and stern water transfer amount value of the bow water tank and / or the stern water tank of the lower vehicle is started according to the new balance angle of attack and the new balance rudder, until the balance angle of attack and the balance rudder angle both tend to zero.

3. The combined maneuvering control method for underwater vehicles based on "gravity and buoyancy + rudder" as claimed in claim 1 is characterized in that: The method further comprises: Acquiring depth data, attitude angle data, and attitude angular velocity data of the underwater vehicle; The depth data, the attitude angle data and the attitude angular velocity data are input into a PID control algorithm to obtain a bow horizontal rudder angle, a bow vertical rudder angle, a stern horizontal rudder angle, a stern vertical rudder angle and a stern differential rudder angle of the underwater vehicle; The bow rudder and stern rudder of the underwater vehicle are feedback-controlled by utilizing the bow horizontal rudder angle, the bow vertical rudder angle, the stern horizontal rudder angle, the stern vertical rudder angle and the stern differential rudder angle.

4. The method for joint maneuvering and controlling an underwater vehicle while moving based on "gravity and buoyancy + rudder" as claimed in claim 3 is characterized in that: The step of obtaining the current balanced attack angle and balanced rudder angle of the underwater vehicle includes: Acquire a bow balance angle of attack based on the bow horizontal rudder angle and the bow vertical rudder angle, and acquire a stern balance angle of attack based on the stern horizontal rudder angle and the stern vertical rudder angle; A bow balance rudder angle is obtained based on the bow horizontal rudder angle, and a stern balance rudder angle is obtained based on the stern horizontal rudder angle.

5. The combined maneuvering control method for underwater vehicles based on "gravity and buoyancy + rudder" as claimed in claim 1 is characterized in that: The preset displacement calculation expression and head-to-tail water transfer calculation expression include: Among them, the coefficient a i 、b i (i=1, 2, 3) is the equilibrium constant, Z′ w , and are the hydrodynamic parameters of the underwater vehicle, M′ w , and M′ θ are the hydrodynamic moment parameters of the underwater vehicle, ρ is the seawater density, L is the length of the underwater vehicle, V is the speed of the underwater vehicle, and L vbs The distance between the bow and stern buoyancy adjustment tanks of the underwater vehicle, δ b is the bow horizontal rudder angle, δ s is the stern horizontal rudder angle, and θ is the equilibrium angle of attack.

6. An underwater vehicle, characterized in that: include: A first variable buoyancy device, a second variable buoyancy device, a self-balancing controller and at least two data collectors; The first variable buoyancy device and the second variable buoyancy device are respectively arranged at the bow and stern of the underwater vehicle, and the first variable buoyancy device and the second variable buoyancy device are both communicatively connected to the self-balancing controller; At least two of the data collectors are arranged on the underwater vehicle, and at least two of the data collectors are communicatively connected to the self-balancing controller; Wherein, at least two of the data collectors are used to collect depth data, attitude angle data and attitude angular velocity data of the underwater vehicle; The self-balancing controller is used to execute the combined maneuvering control method for underwater vehicles based on "gravity buoyancy + rudder" as described in any one of claims 1 to 5 to obtain a first control instruction, and send the first control instruction; The first variable buoyancy device and the second variable buoyancy device are used to inject / discharge a volume of water equal to an injection volume value / discharge volume value carried by the first control instruction in response to the first control instruction.

7. An underwater vehicle as claimed in claim 6, characterized in that: Also includes: A steering controller is arranged on the underwater vehicle and is communicatively connected to at least two of the data collectors. The steering controller is used to use a PID control algorithm to process the depth data, the attitude angle data and the attitude angular velocity data obtained from the at least two data collectors to obtain a bow horizontal rudder angle, a bow vertical rudder angle, a stern horizontal rudder angle, a stern vertical rudder angle and a stern differential rudder angle of the underwater vehicle, and use the bow horizontal rudder angle, the bow vertical rudder angle, the stern horizontal rudder angle, the stern vertical rudder angle and the stern differential rudder angle to feedback control the bow rudder and the stern rudder of the underwater vehicle.

8. An underwater vehicle as claimed in claim 6, characterized in that: At least one of the two data collectors is an inertial navigation device, and the inertial navigation device is used to obtain the attitude angle and the attitude angular velocity.

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