Cross-medium water outlet attitude control method and device for underwater vehicle and medium

Abstract

The invention relates to the technical field of underwater vehicle cross-medium water outlet, in particular to an underwater vehicle cross-medium water outlet attitude control method and device and a medium, can achieve control without depending on accurate modeling of a controlled object, and is more suitable for the field of vehicle cross-medium water outlet control system engineering application. According to the method, the control system parameters, namely the controller bandwidth and the extended state observer bandwidth, are reduced to two by adopting a linear active disturbance rejection control theory, so that the complexity of the control system is reduced, the number of the control parameters is reduced, engineering implementation is facilitated, and a good control effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicle emergence from water across a medium, and in particular to a method, equipment and medium for controlling the attitude of an underwater vehicle emerging from water across a medium. Background Art

[0002] The water exit attitude of a spacecraft is the key and important prerequisite that affects the aerial mission. The sudden change of the navigation medium causes a sharp change in the overall system dynamics environment, resulting in complex changes in the load characteristics of the navigation body, which in turn affects the trajectory attitude. The mission requires that the spacecraft has a good water exit navigation trajectory, a stable navigation attitude and the ability to meet the initial conditions required for the aerial flight segment after exiting the water. However, the uncontrolled water exit trajectory is increasingly difficult to meet the requirements of the mission, and research on water exit attitude control technology is required to enhance water exit stability. It is imperative to explore scientific issues in the cross-media water exit attitude control of spacecraft and study the stability and reliability of cross-media water exit through a controlled water exit method.

[0003] In the prior art, during the process of the vehicle emerging from the water, the additional mass, the position of the center of buoyancy, the buoyancy, the fluid dynamic parameters, etc. undergo significant changes. By establishing a set of dynamic models that can fully reflect the force characteristics of the vehicle during the process of emerging from the water across the medium, the cross-medium water emergence motion mechanism is revealed. The particularity of the medium in which the vehicle is located determines the complexity and necessity of the control problem research. The dynamic model has strong nonlinearity and fast time-varying properties. The established control system must be able to solve this complex characteristic problem. After the active disturbance rejection control (ADRC) technology was proposed, it has been favored by many scholars and has broad application prospects in the fields of aerospace and navigation. However, for nonlinear active disturbance rejection control technology, the number of parameter settings is large, and there is no fixed parameter determination method. Therefore, it brings great difficulty to parameter setting, which can only be determined by engineering experience and simulation. Summary of the invention

[0004] In view of this, the present invention provides a method, device and medium for controlling the attitude of an underwater vehicle across a medium when it emerges from the water, which can achieve control without relying on precise modeling of the controlled object and is more suitable for the engineering application field of a vehicle's cross-medium water emergence control system.

[0005] To achieve the above-mentioned purpose, the present invention provides a method for controlling the attitude of an underwater vehicle when it crosses a medium and then exits the water, analyzes the force characteristics of the vehicle when it crosses a medium and then exits the water, and establishes a dynamic equation for the cross-medium exit.

[0006] Based on the cross-medium water-emergence dynamics equation, a third-order extended transition observer is designed to estimate its state quantity, and an active disturbance rejection control law suitable for the cross-medium water-emergence attitude control of the underwater vehicle is obtained; the command signal and the output of the controlled object are used as input signals of the linear active disturbance rejection controller to estimate the state quantity and total disturbance of the controlled object, and obtain the control quantity. The control quantity provides an input signal for the controlled object, thereby obtaining an output signal, thereby realizing closed-loop control of the vehicle cross-medium water-emergence.

[0007] The establishment of the cross-medium water exit dynamics equation includes: firstly, based on Newton's second law and the momentum theorem, the rotation equation of the underwater vehicle around the center of mass is established in the body coordinate system; in the coordinate system with the center of buoyancy o as the origin, the cross-domain water exit dynamics model of the vehicle is established; the pitch plane dynamics equation is:

[0008]

[0009] The kinematic equation is:

[0010]

[0011] Where X, Y are the components of the fluid force in the system; M z is the pitching moment; ω z is the pitch angular velocity; θ is the pitch angle; J zz is the moment of inertia; 11 ,λ 22 ,λ 26 ,λ 66 is the additional moment of inertia; v x1 , v y1 is the speed of the system; x1 is the distance between the top of the vehicle and the water surface; α is the angle of attack; S and L are the maximum cross-sectional area and length of the vehicle respectively; x c is the component of the mass center coordinate in the system; m, G are the mass and gravity of the spacecraft respectively; a is the rudder efficiency coefficient; δ e is the rudder deflection angle of the pitch channel;

[0012] The cross-domain water added mass model is:

[0013]

[0014] Where x2 is the contact coordinate between the vehicle and the water surface; ρ is the density of the fluid medium;

[0015] The mathematical model of cross-domain water buoyancy is:

[0016]

[0017] The mathematical model of the cross-domain out-of-water buoyancy center is:

[0018]

[0019] In the formula, x ccs The coordinates of the center of buoyancy in the center of buoyancy calculation coordinate system.

[0020] Among them, the active disturbance rejection control law applicable to the underwater vehicle's cross-medium water exit attitude control is:

[0021]

[0022] Where r is the target value of each control channel, is the estimated value of a, z 1i 、z 2i 、z 3i is the estimated value of the system state quantity;

[0023] The parameters of the extended transition observer and controller are:

[0024] β 01i =3ω 0i ,β 02i =3ω 0i 2 ,β 03i =ω 0i 3 ,k pi =ω ci 2 ,k di =2ω ci

[0025] Among them, ω 0i and ω ci are the attitude angle control loop observer bandwidth, i.e., the extended state observer bandwidth, and the controller bandwidth, respectively.

[0026] Among them, the parameters of the extended state observer and the controller are determined by digital simulation.

[0027] Among them, the anti-disturbance control law applicable to the underwater vehicle's cross-medium water exit attitude control is converted into a difference equation form.

[0028] The present invention also provides an electronic device, comprising a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the underwater vehicle cross-medium water exit posture control method described in the present invention.

[0029] The present invention also provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the method for controlling the underwater vehicle's cross-medium water exit posture according to the present invention.

[0030] Beneficial effects:

[0031] 1. In the method of the present invention, the linear active disturbance rejection control theory is used to reduce the control system parameters to two, namely, the controller bandwidth and the extended state observer bandwidth, which reduces the complexity of the control system, reduces the number of control parameters, is conducive to engineering implementation, and has good control effects. It is a control method that does not rely on accurate modeling of the controlled object and is more suitable for the engineering application field of cross-media water outlet control system of aircraft.

[0032] 2. In the method of the present invention, a cross-media water discharge dynamics model is constructed to make the linear anti-disturbance control suitable for cross-media posture control, solve the complex characteristics of strong nonlinearity and fast time-varying cross-media water discharge, and improve the stability and reliability of cross-media water discharge through a controlled water discharge method.

[0033] 3. In the method of the present invention, the force characteristics of the vehicle during the process of water exiting through a medium are analyzed, the cross-medium water exit dynamics equation is established, and a dynamic model that can fully reflect the force characteristics of the vehicle during water exiting through a medium is established; based on the self-disturbance rejection control theory, a closed-loop control method for the vehicle during water exiting through a medium is proposed to improve the water exit stability.

[0034] 4. The device of the present invention is used to implement the method of the present invention, and adopts the linear self-disturbance rejection control theory to reduce the control system parameters to two, namely, the controller bandwidth and the expanded state observer bandwidth, which reduces the complexity of the control system, reduces the number of control parameters, is conducive to engineering implementation, and has good control effect. It is a control method that does not rely on precise modeling of the controlled object, and is more suitable for the engineering application field of the vehicle cross-media water outlet control system.

[0035] 5. The medium of the present invention is used to implement the method of the present invention, and the linear self-disturbance rejection control theory is adopted to reduce the control system parameters to two, namely, the controller bandwidth and the extended state observer bandwidth, which reduces the complexity of the control system, reduces the number of control parameters, is conducive to engineering implementation, and has good control effect. It is a control method that does not rely on precise modeling of the controlled object, and is more suitable for the engineering application field of the cross-medium water outlet control system of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the vehicle emerging from water across a medium in the present invention.

[0037] Figure 2 This is a schematic diagram of the posture control principle based on ADRC in the present invention.

[0038] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0040] The present invention constructs a cross-medium water outlet dynamics model, so that the linear self-disturbance rejection is suitable for cross-medium attitude control, and solves the complex characteristics of cross-medium water outlet, such as strong nonlinearity and fast time-varying. Through a controlled water outlet method, the stability and reliability of cross-medium water outlet are improved. Specifically, the force characteristics of the vehicle during the cross-medium water outlet are analyzed, and the cross-medium water outlet dynamics equation is established. Based on the self-disturbance rejection control theory, a closed-loop control method for the cross-medium water outlet of the vehicle is proposed to improve the water outlet stability. It can be seen that the present invention reduces the control system parameters to two based on the linear self-disturbance rejection control theory, namely the controller bandwidth and the extended state observer bandwidth, which reduces the complexity of the control system, reduces the number of control parameters, is conducive to engineering implementation, and has a good control effect. This control method that does not rely on the precise modeling of the controlled object is more suitable for the engineering application field of the vehicle cross-medium water outlet control system, and solves the problem of vehicle cross-medium water outlet attitude control. The cross-medium water outlet attitude control method of the underwater vehicle of the present invention has the following implementation steps:

[0041] First, based on Newton's second law of motion and the moment of momentum theorem, the rotation equation of the underwater vehicle around the center of mass is established in the body coordinate system. Assuming that the fluid is continuous and the disturbance of the water exit motion to the free liquid surface is small, only the longitudinal motion is considered, then the cross-domain water exit dynamics model of the vehicle is established in the coordinate system with the center of buoyancy o (fully wetted state) as the origin. Considering that the cross-medium mission process of the vehicle mainly occurs in the longitudinal plane, the pitch plane dynamics equation is:

[0042]

[0043] The kinematic equation is:

[0044]

[0045] Where X, Y are the components of the fluid force in the system; M z is the pitching moment; ω z is the pitch angular velocity; θ is the pitch angle; J zz is the moment of inertia; 11 ,λ 22 ,λ 26 ,λ 66 is the additional moment of inertia; v x1 , v y1 is the speed of the system; x1 is the distance between the top of the vehicle and the water surface; α is the angle of attack; S and L are the maximum cross-sectional area and length of the vehicle respectively; x c is the component of the mass center coordinate in the system; m, G are the mass and gravity of the spacecraft respectively; a is the rudder efficiency coefficient; δ e is the rudder deflection angle of the pitch channel.

[0046] The cross-domain water added mass model is:

[0047]

[0048] Where x2 is the contact coordinate between the vehicle and the water surface; ρ is the density of the fluid medium;

[0049] The mathematical model of cross-domain water buoyancy is:

[0050]

[0051] The mathematical model of the cross-domain out-of-water buoyancy center is:

[0052]

[0054] In the formula, x ccs The coordinates of the center of buoyancy in the center of buoyancy calculation coordinate system.

[0055] In the present invention, the schematic diagram of the aircraft exiting the water across the medium is as follows: Figure 1 shown.

[0056] From formula (1), we can see that the controlled object of each control channel of the outer loop is a second-order system, and a third-order extended state observer (ESO) is designed to estimate its state quantity. Therefore, the active disturbance rejection control law suitable for the underwater vehicle's cross-medium exit attitude control is:

[0057]

[0058] Where r is the target value of each control channel, is the estimated value of a, z 1i 、z 2i 、z 3i is the estimated value of the system state quantity. The ESO and controller parameters are:

[0059] β 01i =3ω 0i ,β 02i =3ω 0i 2 ,β 03i =ω 0i 3 ,k pi =ω ci 2 ,k di =2ω ci

[0060] Among them, ω 0i and ω ci are the attitude angle control loop observer bandwidth, i.e., the extended state observer bandwidth, and the controller bandwidth, respectively.

[0061] Attitude control based on ADRC Figure 2As shown. c The output y of the controlled object is used as the input signal of the linear active disturbance rejection controller, thereby estimating the state z1, z2 and total disturbance z3 of the controlled object and obtaining the control quantity u. The control quantity provides an input signal to the controlled object, thereby obtaining the output signal y.

[0062] Furthermore, the establishment of the above mathematical model is the theoretical derivation of the underwater vehicle's cross-medium water exit attitude control method, and the ESO parameters and controller parameters can be determined by digital simulation. In practical engineering applications, equation (12) needs to be converted into a differential equation form, as shown in equation (13).

[0063]

[0064] In the formula, k represents the state at the current moment, k+1 represents the state at the next moment, and h is the operation step size.

[0065] The embodiment of the present application also provides an electronic device, Figure 3 The structure of the electronic device provided by the embodiment of the present invention is shown. For example, the electronic device 30 may include a processor 31, a memory 32 and a transmission device 33. The processor is used to execute the underwater vehicle cross-medium water exit attitude control method mentioned in the above embodiment, wherein the processor and the memory may be connected by a bus or other means, taking the bus connection as an example. The transmission device may be connected to the processor and the memory by wire or wirelessly. The memory, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the program instructions / modules corresponding to the underwater vehicle cross-medium water exit attitude control method in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, the underwater vehicle cross-medium water exit attitude control method in the above method embodiment is realized. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The one or more modules are stored in the memory, and when executed by the processor, the underwater vehicle cross-medium water exit attitude control method in the embodiment is executed.

[0066] As another aspect, the present application also provides a computer-readable storage medium, which may be the computer-readable storage medium included in the device described in the above embodiment; or it may be a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD ROM, or any other form of storage medium known in the technical field. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the underwater vehicle cross-medium water exit attitude control method described in the present application.

[0067] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the attitude of an underwater vehicle exiting water across a medium, characterized in that: Analyze the force characteristics of the vehicle during the process of crossing the medium and establish the dynamic equation of crossing the medium; Based on the cross-medium water-emergence dynamics equation, a third-order extended transition observer is designed to estimate its state quantity, and an active disturbance rejection control law suitable for the cross-medium water-emergence attitude control of the underwater vehicle is obtained; the command signal and the output of the controlled object are used as input signals of the linear active disturbance rejection controller to estimate the state quantity and total disturbance of the controlled object, and obtain the control quantity. The control quantity provides an input signal for the controlled object, thereby obtaining an output signal, thereby realizing closed-loop control of the vehicle cross-medium water-emergence.

2. The method according to claim 1, characterized in that The establishment of the cross-medium water exit dynamics equation includes: firstly, the rotation equation of the underwater vehicle around the center of mass is established in the body coordinate system based on Newton's second law and the momentum theorem; in the coordinate system with the center of buoyancy o as the origin, the cross-domain water exit dynamics model of the vehicle is established; the pitch plane dynamics equation is: The kinematic equation is: Where X, Y are the components of the fluid force in the system; M z is the pitching moment; ω z is the pitch angular velocity; θ is the pitch angle; J zz is the moment of inertia; 11 ,λ 22 ,λ 26 ,λ 66 is the additional moment of inertia; v x1 , v y1 is the speed of the system; x1 is the distance between the top of the vehicle and the water surface; α is the angle of attack; S and L are the maximum cross-sectional area and length of the vehicle respectively; x c is the component of the mass center coordinate in the system; m, G are the mass and gravity of the spacecraft respectively; a is the rudder efficiency coefficient; δ e is the rudder deflection angle of the pitch channel; The cross-domain water added mass model is: Where x2 is the contact coordinate between the vehicle and the water surface; ρ is the density of the fluid medium; The mathematical model of cross-domain water buoyancy is: The mathematical model of the cross-domain out-of-water buoyancy center is: In the formula, x ccs The coordinates of the center of buoyancy in the center of buoyancy calculation coordinate system.

3. The method according to claim 1 or 2, characterized in that ,The active disturbance rejection control law applicable to the attitude control of underwater vehicles exiting water across media is: Where r is the target value of each control channel, is the estimated value of a, z 1i 、z 2i 、z 3i is the estimated value of the system state quantity; The parameters of the extended transition observer and controller are: b 01i =3h 0i ,b 02i =3h 0i 2 ,b 03i =ω 0i 3 ,k pi =ω ci 2 ,k di =2h ci Among them, ω 0i and ω ci are the attitude angle control loop observer bandwidth, i.e., the extended state observer bandwidth, and the controller bandwidth, respectively.

4. The method according to claim 3, characterized in that ,The parameters of the extended state observer and controller are determined through digital simulation.

5. The method according to claim 4, characterized in that The active disturbance rejection control law applicable to the underwater vehicle's cross-medium water exit attitude control is converted into a difference equation form.

6. An electronic device, characterized in that: The electronic device includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the underwater vehicle cross-medium water exit posture control method as described in any one of claims 1-5 above.

7. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the underwater vehicle cross-medium water exit posture control method described in any one of claims 1-5 above.

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