A combined maneuvering and control method for underwater vehicles based on buoyancy and rudder.

Abstract

This application discloses a method for combined maneuvering control of an underwater vehicle based on "buoyancy + rudder" and an underwater vehicle. The method involves acquiring the underwater vehicle's current equilibrium angle of attack and equilibrium rudder angle; using a preset self-balancing control algorithm, iterative feedback control is applied to adjust the injection / displacement volume and bow / stern water displacement of the bow and / or stern water tanks to bring both the equilibrium angle of attack and equilibrium rudder angle towards zero, thus obtaining the control result of the underwater vehicle; the control result is then output. This application's feedback control of the injection / displacement volume and bow / stern water displacement of the bow and / or stern water tanks can improve the problem of decreased navigation quality caused by excessive initial buoyancy. During navigation, feedback control of the injection / displacement volume and bow / stern water displacement of the bow and / or stern water tanks can effectively reduce the equilibrium angle of attack and equilibrium rudder angle, thereby significantly reducing resistance during navigation, saving energy, and extending operation time.

Description

Technical Field

[0001] This application relates to the field of a combined maneuvering and control method for underwater vehicles based on "buoyancy + rudder", and particularly to a combined maneuvering and control method for underwater vehicles based on "buoyancy + rudder" and an underwater vehicle. Background Technology

[0002] When an Autonomous Underwater Vehicle (AUV) performs a diving mission or operates at different depths, its buoyancy changes with depth. This is mainly due to the inconsistency between the physical parameters of the AUV and the seawater (e.g., the volume compressibility of the AUV under different pressures and the temperature contraction rate and density change rate of the seawater at different depths). The presence of unbalanced forces and unbalanced moments will change the vehicle's equilibrium state, thereby increasing the vehicle's equilibrium angle of attack and equilibrium rudder angle, increasing the vehicle's drag, and exacerbating the vehicle's energy consumption, leading to a shortened operation time and a decline in operation quality. Summary of the Invention

[0003] The main objective of this application is to provide a method for combined maneuvering and control of an underwater vehicle based on "buoyancy + rudder" and an underwater vehicle in motion, aiming to solve the technical problems of the method for combined maneuvering and control of an underwater vehicle based on "buoyancy + rudder".

[0004] To achieve the above objectives, this application provides a method for joint maneuvering and control of an underwater vehicle based on "buoyancy + rudder," comprising: acquiring the current equilibrium angle of attack and equilibrium rudder angle of the underwater vehicle; using a preset self-balancing control algorithm to iteratively control the injection / displacement volume and the bow and stern water removal volume of the bow and / or stern water tanks of the underwater vehicle, so that the equilibrium angle of attack and the equilibrium rudder angle both tend to zero, thereby obtaining the control result of the underwater vehicle; and outputting the control result of the underwater vehicle.

[0005] Optionally, the step of using a preset self-balancing control algorithm to iteratively control the injection / displacement values ​​and the bow / stern water displacement values ​​of the bow and / or stern water tanks of the underwater vehicle, so that the balanced angle of attack and the balanced rudder angle both approach zero, includes: obtaining preset displacement calculation expressions and bow / stern water displacement calculation expressions in the self-balancing control algorithm; and calculating the injection / displacement values ​​and the bow / stern water displacement values ​​of the bow and / or stern water tanks of the underwater vehicle based on the displacement calculation expressions and the bow / stern water displacement calculation expressions. The values ​​of water displacement at the bow and stern are described; based on the values ​​of water displacement and water injection / discharge, the corresponding amounts of water are injected / discharged into the bow and / or stern tanks of the underwater vehicle, resulting in a new equilibrium angle of attack and a new equilibrium rudder after one round of iterative feedback control; based on the new equilibrium angle of attack and the new equilibrium rudder, the next round of iterative feedback control of the values ​​of water injection / discharge and water displacement at the bow and stern tanks of the underwater vehicle begins, until the equilibrium angle of attack and the equilibrium rudder angle both approach zero.

[0006] Optionally, the method further includes: acquiring the depth data, attitude angle data, and attitude angular velocity data of the underwater vehicle; inputting the depth data, attitude angle data, and attitude angular velocity data 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;

[0007] The bow and stern rudders of the underwater vehicle are controlled by feedback from 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 the 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 expressions for calculating drainage volume and the first and last water transfer volume include:

[0010]

[0011] Wherein, coefficient a i b i (i = 1, 2, 3) are the equilibrium constants.

[0012] Z′ w , and These are the hydrodynamic parameters of the underwater vehicle, M′ w , and M′ θ Here, ρ represents the hydrodynamic torque parameters of the underwater vehicle, L represents the density of seawater, and V represents the length of the underwater vehicle. 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 equilibrium angle of attack.

[0013] Furthermore, to achieve the above objectives, this application also provides an underwater vehicle, comprising: a first variable buoyancy device, a second variable buoyancy device, a self-balancing controller, and at least two data acquisition units; the first variable buoyancy device and the second variable buoyancy device are respectively disposed at the bow and stern of the underwater vehicle, and both the first variable buoyancy device and the second variable buoyancy device are communicatively connected to the self-balancing controller; at least two of the data acquisition units are disposed on the underwater vehicle, and both of the at least two data acquisition units are communicatively connected to the self-balancing controller; wherein, the at least two data acquisition units 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 travel joint manipulation control method based on "weight buoyancy + rudder" provided in any of the above embodiments to obtain a first control command, and send the first control command; the first variable buoyancy device and the second variable buoyancy device are used to inject / discharge water equal to the injected water volume value / discharge water volume value carried by the first control command in response to the first control command.

[0014] Optionally, it further includes: a steering controller, disposed on the underwater vehicle, and communicatively connected to at least two of the data acquisition units. The steering controller is used to process the depth data, attitude angle data, and attitude angular velocity data obtained from the at least two data acquisition units using 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, and uses the bow horizontal rudder angle, bow vertical rudder angle, stern horizontal rudder angle, stern vertical rudder angle, and stern differential rudder angle to feedback control the bow rudder and stern rudder of the underwater vehicle.

[0015] Optionally, one of the at least two data acquisition devices is an inertial navigation system (INS) used to acquire the attitude angle and the attitude angular velocity.

[0016] This application proposes a combined maneuvering control method and underwater vehicle based on "buoyancy + rudder" during operation. The method acquires the underwater vehicle's current equilibrium angle of attack and equilibrium rudder angle; iteratively controls the injection / displacement volume and bow / stern water displacement of the bow and / or stern water tanks using a preset self-balancing control algorithm to bring both the equilibrium angle of attack and equilibrium rudder angle towards zero, thus obtaining the control result of the underwater vehicle; and outputs the control result of the underwater vehicle. This application's feedback control of the injection / displacement volume and bow / stern water displacement of the bow and / or stern water tanks can improve the problem of decreased navigation quality caused by excessive initial buoyancy. During navigation, feedback control of the injection / displacement volume and bow / stern water displacement of the bow and / or stern water tanks can effectively reduce the equilibrium angle of attack and equilibrium rudder angle, thereby greatly reducing resistance during navigation, saving energy, and extending operation time. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating an embodiment of the "buoyancy + rudder" combined maneuvering and control method for an underwater vehicle based on this application.

[0018] Figure 2 This is a schematic diagram of an embodiment of the "buoyancy + rudder" combined maneuvering control method for underwater vehicles based on this application.

[0019] Figure 3 This is a schematic diagram of the structure of an underwater vehicle provided in an embodiment of the "buoyancy + rudder" combined maneuvering and control method for underwater vehicles in this application.

[0020] Figure 4 This is a diagram showing the depth variation of an underwater vehicle under constant depth control under a combined rudder and water control method provided in an embodiment of the "buoyancy + rudder" underwater vehicle joint maneuvering control method of this application.

[0021] Figure 5 This is a diagram showing the change in the angle of attack of an underwater vehicle under constant depth control under a combined rudder and water control method provided in an embodiment of the "buoyancy + rudder" underwater vehicle joint maneuvering control method of this application.

[0022] Figure 6 This is a diagram showing the change of rudder angle in depth control of an underwater vehicle under a combined rudder and water control method based on "buoyancy + rudder" in an embodiment of the present application.

[0023] Figure 7 This is a diagram showing the water injection (discharge) volume of the bow and stern water tanks of an underwater vehicle under rudder-water combined control, provided in an embodiment of the "buoyancy + rudder" combined maneuvering control method for underwater vehicles in this application.

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

[0025] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0026] In existing technologies, the buoyancy of an AUV needs to be roughly adjusted manually after each change of payload. This manual adjustment process is complex and has low precision. In addition, changes in the marine environment or the release of mission payloads can cause changes in the buoyancy and gravity of the AUV, putting it in an unbalanced state. This, in turn, leads to increased energy consumption and reduced maneuverability of the AUV during navigation.

[0027] This application proposes a combined maneuvering control method for underwater vehicles (AUVs) based on "buoyancy + rudder" to address the aforementioned problems in existing technologies. This method equips the AUV with a self-balancing control algorithm, which dynamically alters the AUV's buoyancy or gravity to adapt to environmental changes and better complete tasks. In other words, this algorithm can control the AUV to efficiently and smoothly complete navigation missions at different depths and in different sea areas. Specifically, during underwater navigation, the control commands generated by the self-balancing control algorithm simultaneously manipulate the elevator and adjust the static load, achieving constant speed, linear motion at a constant depth for the AUV without pitching.

[0028] like Figure 2 and Figure 3 As shown, this application also proposes an underwater vehicle to solve the problems existing in the prior art. The underwater vehicle includes a first variable buoyancy device 4, a second variable buoyancy device 5, a self-balancing controller 2, and at least two data acquisition devices 3. The first variable buoyancy device 4 and the second variable buoyancy device 5 are respectively disposed at the bow and stern of the underwater vehicle 1, and both the first variable buoyancy device 4 and the second variable buoyancy device 5 are communicatively connected to the self-balancing controller 2. At least two of the data acquisition devices are disposed on the underwater vehicle 1, and both of the at least two data acquisition devices are communicatively connected to the self-balancing controller 2. The self-balancing controller 2 is connected to the communication; wherein, at least two of the data acquisition devices 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's in-journey joint maneuver control method based on "buoyancy + rudder" to obtain a first control command and send the first control command; the first variable buoyancy device 4 and the second variable buoyancy device 5 are used to respond to the first control command by injecting / discharging water of the same volume as the injected / discharged water carried by the first control command.

[0029] like Figure 3As shown, a variable buoyancy adjustment device (i.e., the first variable buoyancy device 4 and the second variable buoyancy device 5) is installed at the bow and stern of the underwater vehicle 1, respectively. This variable buoyancy adjustment device can consist of a water tank, a low-pressure water pump, a reversing valve assembly, and pumping water pipes. (Refer to...) Figure 2 The variable buoyancy adjustment 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 this application, an underwater vehicle 1 further includes a steering controller 6. The steering controller 6 is disposed on the underwater vehicle 1 and is communicatively connected to at least two of the data acquisition devices. The steering controller 6 is used to process the depth data, attitude angle data, and attitude angular velocity data obtained from the at least two data acquisition devices using 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. The steering controller 6 uses the bow horizontal rudder angle, bow vertical rudder angle, stern horizontal rudder angle, stern vertical rudder angle, and stern differential rudder angle to feedback control the bow rudder and stern rudder of the underwater vehicle 1.

[0031] The rudder angle command issued by the steering controller 6 is obtained by processing depth data, attitude angle collection, and attitude angular velocity data using a conventional PID algorithm, which will not be described in detail here.

[0032] Continue to refer Figure 2 In the embodiments of this application, one of the at least two data acquisition devices 3 is an inertial navigation device, which is used to acquire the attitude angle and the attitude angular velocity.

[0033] It should be noted that, of the at least two data acquisition devices 3, except for one which is an inertial navigation system, the other data acquisition devices can be sensors, such as depth sensors.

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

[0035] S10. Obtain the current equilibrium angle of attack and equilibrium rudder angle of underwater vehicle 1;

[0036] In one embodiment of this application, prior to step S10, the specific execution process of the underwater vehicle 1's combined maneuvering control method based on "buoyancy + rudder" can be as follows:

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

[0038] By inputting the depth data, attitude angle data, and attitude angular velocity data into the PID control algorithm, 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 are obtained.

[0039] The bow and stern rudders of the underwater vehicle 1 are controlled by feedback from 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 underwater vehicle 1 uses the vehicle's depth, attitude angle, and attitude angular velocity as feedback to calculate the bow horizontal rudder angle input δ. 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 servo controller, which then responds to the steering commands to complete the normal navigation mission.

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

[0042] S101. Determine the bow balanced angle of attack based on the bow horizontal rudder angle and the bow vertical rudder angle, and determine the stern balanced angle of attack based on the stern horizontal rudder angle and the stern vertical rudder angle;

[0043] The control computer can obtain the bow balanced angle of attack based on the tangent of the ratio of the bow horizontal rudder angle to the bow vertical rudder angle, and obtain the stern balanced angle of attack based on the tangent of the ratio of the stern horizontal rudder angle to the stern vertical rudder angle.

[0044] S102. Obtain the bow balance rudder angle based on the bow horizontal rudder angle, and obtain the stern balance rudder angle based on the stern horizontal rudder angle.

[0045] The control computer can use the bow horizontal rudder angle as the bow balanced rudder angle and the stern horizontal rudder angle as the stern balanced rudder angle.

[0046] S20. The injection / displacement volume and bow and stern water displacement of the bow and / or stern water tanks of the underwater vehicle 1 are controlled by iterative feedback using a preset self-balancing control algorithm, so that the balanced angle of attack and the balanced rudder angle both tend to zero, thereby obtaining the control result of the underwater vehicle 1.

[0047] In embodiments of this application, step S20 may include the following execution process:

[0048] S201. Obtain the preset drainage volume calculation expression and the first and last water displacement volume calculation expression in the self-balancing control algorithm;

[0049] Specifically, the preset expressions for calculating drainage volume and the first and last water transfer volumes include:

[0050]

[0051] Wherein, coefficient a i b i (i = 1, 2, 3) are the equilibrium constants.

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

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

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

[0055] Will denoted as Z(δ) s ) 0 , representing δ s =1° stern hydrodynamic injection and displacement (kg);

[0056] Will Let it be denoted as M(w) 0 , represents the bow and stern water displacement (kg) of the hull hydrodynamic torque when θ=α=1°;

[0057] Will denoted as M(δ) b ) 0 , representing δ b Bow and stern water control (kg) of the bow rudder hydrodynamic torque at 1°;

[0058] Will denoted as M(δ) s ) 0, representing δ s Bow and stern water displacement (kg) of stern rudder hydrodynamic torque at 1°.

[0059] By rearranging the above formulas, we can obtain

[0060]

[0061] S202. Calculate the injection / displacement value and the bow and stern water displacement 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 displacement calculation expression.

[0062] In other words, the injection / discharge value and the bow and stern water displacement value of the bow and / or stern water tanks can be calculated according to the above expression. The bow and / or stern water tanks can be drained or injected simultaneously, or they can be drained or injected separately while the other remains unchanged. The water flow can also be adjusted between the bow and / or stern water tanks, and the water flow value is the water displacement value.

[0063] Based on the calculated injection / displacement values ​​of the bow and / or stern water tanks and the forward and stern water displacement values, an injection (displacement) command can be generated and sent to the controlled first variable buoyancy device 4 and the second variable buoyancy device 5.

[0064] S203. Based on the injection / discharge volume value and the bow and stern water displacement volume value, control the injection / discharge volume of the bow water tank and / or the stern water tank of the underwater vehicle 1 to obtain the new balanced angle of attack and the new balanced rudder of the underwater vehicle 1 after one iteration of feedback control.

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

[0066] S204. Based on the new balanced angle of attack and the new balanced rudder, begin the next round of iterative feedback control of the injection / displacement value and the bow and stern water displacement value of the bow and stern water tanks of the lower vehicle, until the balanced angle of attack and the balanced rudder angle both approach zero.

[0067] Starting from underwater vehicle 1, the data acquisition unit collects the current balanced angle of attack and balanced rudder angle (including the bow balanced rudder angle) every given time t (t = 1000 seconds in this application). Balanced rudder angle at the stern The system receives information and uses a self-balancing control algorithm to calculate the amount of water to be injected (or drained) into the bow and stern water tanks. This water volume value is then sent to the variable buoyancy devices at the bow and stern to adjust the water tank controllers. The variable buoyancy devices then adjust the low-pressure water pumps and reversing valve groups to perform the corresponding injection and drainage operations.

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

[0069] S30, Output the control results of the underwater vehicle 1.

[0070] The control results for underwater vehicle 1 can be obtained from simulation. From the simulation results... Figure 4 It can be seen that by performing a self-balancing control algorithm every 1000 seconds, and with the change in water volume in the bow and stern tanks, the depth error gradually decreases to 0 after processing by the self-balancing control algorithm. Figure 5 and Figure 6 It can be seen that as the self-balancing control algorithm is implemented during travel, both the balance angle of attack and the balance rudder angle decrease to 0.

[0071] Figure 7 The solid line represents the water volume (calculated by the self-balancing controller 2 after processing by the self-balancing control algorithm) and the response (dashed line) to changes in the water volume of the ballast tanks. The simulation initially set the buoyancy of the underwater vehicle to 4000N, but the final adjustment results of the bow and stern ballast tanks were slightly greater than 4000N. This is due to the zero lift during navigation caused by the vertical asymmetry of the underwater vehicle 1, which makes the weight of the incoming water slightly greater than the initial buoyancy to counteract the zero lift generated during navigation, thereby maintaining the force balance of the vehicle in the vertical plane and achieving a navigation state with 0 equilibrium angle of attack and 0 equilibrium rudder angle.

[0072] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for combined maneuvering and control of an underwater vehicle based on "buoyancy + rudder", characterized in that, include: Obtain the current equilibrium angle of attack and equilibrium rudder angle of the underwater vehicle; The underwater vehicle's bow and / or stern flood tanks are iteratively controlled using a preset self-balancing control algorithm to adjust the injection / displacement volume and bow / stern water displacement, so that the balanced angle of attack and the balanced rudder angle both approach zero, resulting in the control outcome of the underwater vehicle, including: Obtain the preset drainage volume calculation expression and the first and last water displacement volume calculation expression in the self-balancing control algorithm; The preset expressions for calculating drainage volume and the first and last water transfer volumes include: Among them, coefficient , As the equilibrium constant, , , , , , , , and These are the various hydrodynamic parameters of the underwater vehicle. , , and These are the hydrodynamic torque parameters of the underwater vehicle. The density of seawater, The length of the underwater vehicle. For the speed of the underwater vehicle, To adjust the distance between the bow and stern buoyancy tanks of an underwater vehicle. For the bow horizontal rudder angle, For stern horizontal rudder angle, To balance the angle of attack; The injection / displacement value and the bow and stern water displacement value of the bow water tank and / or the stern water tank of the underwater vehicle are calculated based on the displacement calculation expression and the bow and stern water displacement expression. Based on the injection / displacement volume value and the bow and stern water displacement volume value, the corresponding water volume is injected / discharged into the bow water tank and / or the stern water tank of the underwater vehicle to obtain the new balanced angle of attack and new balanced rudder of the underwater vehicle after one iteration of feedback control; Based on the new balanced angle of attack and the new balanced rudder, the next round of iterative feedback control is initiated to determine the injection / displacement value and the bow and stern water displacement value of the bow and stern water tanks of the lower vessel, until the balanced angle of attack and the balanced rudder angle both approach zero. Output the control results of the underwater vehicle.

2. The underwater vehicle joint maneuvering control method based on "buoyancy + rudder" as described in claim 1, characterized in that, The method further includes: Acquire the depth data, attitude angle data, and attitude angular velocity data of the underwater vehicle; By inputting the depth data, attitude angle data, and attitude angular velocity data into the PID control algorithm, 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 are obtained. The bow and stern rudders of the underwater vehicle are controlled by feedback from 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.

3. The underwater vehicle joint maneuvering control method based on "buoyancy + rudder" as described in claim 2, characterized in that, The acquisition of the underwater vehicle's current balance angle of attack and balance rudder angle includes: The bow balanced angle of attack is obtained based on the bow horizontal rudder angle and the bow vertical rudder angle, and the stern balanced angle of attack is obtained based on the stern horizontal rudder angle and the stern vertical rudder angle. The bow balance rudder angle is obtained based on the bow horizontal rudder angle, and the stern balance rudder angle is obtained based on the stern horizontal rudder angle.

4. An underwater vehicle, characterized in that, include: The system comprises a first variable buoyancy device, a second variable buoyancy device, a self-balancing controller, and at least two data acquisition units; The first variable buoyancy device and the second variable buoyancy device are respectively installed at the bow and stern of the underwater vehicle, and both the first variable buoyancy device and the second variable buoyancy device are communicatively connected to the self-balancing controller. At least two of the data acquisition units are installed on the underwater vehicle, and at least two of the data acquisition units are communicatively connected to the self-balancing controller; Among them, at least two of the data acquisition devices are used to collect the 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 in-journey joint maneuver control method based on "buoyancy + rudder" as described in any one of claims 1 to 3 to obtain a first control command and send the first control command. The first variable buoyancy device and the second variable buoyancy device are used to inject / discharge water equal to the injection / discharge water volume value carried by the first control command in response to the first control command.

5. An underwater vehicle as described in claim 4, characterized in that, Also includes: A steering controller is installed on the underwater vehicle and is communicatively connected to at least two of the data acquisition units. The steering controller is used to process the depth data, attitude angle data, and attitude angular velocity data obtained from the at least two data acquisition units using a 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. The steering controller then uses the bow horizontal rudder angle, bow vertical rudder angle, stern horizontal rudder angle, stern vertical rudder angle, and stern differential rudder angle to provide feedback control of the bow and stern rudders of the underwater vehicle.

6. An underwater vehicle as described in claim 4, characterized in that, At least one of the two data acquisition devices is an inertial navigation system (INS) used to acquire the attitude angle and the attitude angular velocity.

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