Submersible attitude control method and system

Abstract

The invention discloses a submersible attitude control method and system, and relates to the technical field of underwater environment detection. The method is executed by an industrial personal computer in a submersible attitude control system, internal target air pressure values of all air bags are determined according to target attitude information, and then the water electrolysis reaction process or the reverse reaction process of a plurality of water electrolysis reaction and reverse reaction switching devices is controlled by combining real-time air pressure values from all air pressure sensors. Until the internal air pressure value of each air bag reaches the corresponding internal target air pressure value, the drainage volume distribution in the submersible is dynamically adjusted through the volume change of all the air bags, and then the overturning moment is generated at the gravity center of the submersible to achieve the change of the submersible from the current posture to the target posture. Therefore, compared with an existing posture adjusting scheme based on phase change expansion, energy consumption does not need to be increased to counteract seawater heat dissipation when the air bag is expanded, the posture adjusting response speed can be increased, heat loss is avoided, and energy recycling is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater environment detection, and particularly relates to a method and system for controlling the attitude of a submersible. Background Art

[0002] A submersible is an active deep-diving device with the ability to observe and operate underwater, also known as a deep submergence vehicle or a submersible. It is mainly used to perform tasks such as underwater exploration, seabed exploration, seabed development, salvage, and rescue, and can serve as an underwater operation base for divers. Submersibles have functions such as seabed sampling, underwater observation and measurement, video recording, photography, and salvage, and are widely used in the research of basic marine disciplines and the investigation and development of marine resources, playing a significant role in the development of these fields.

[0003] Currently, the traditional submersible attitude adjustment schemes mainly include thruster type, ballast water type, oil bladder type, and mechanical transmission type, etc. However, the core of these methods requires an electromechanical actuator for driving. Although the adjustment speed is relatively fast, it cannot meet the requirements of energy conservation, pressure resistance, and concealment, etc., and increases the system cost and volume. In view of the foregoing problems, the existing patent technology CN116639233A provides a submersible attitude and depth adjustment device based on phase change expansion. Although the phase change expansion unit can be heated and undergo a phase change due to the change of heating power, thereby generating buoyancy by changing the drainage volume, and all the phase change expansion units can jointly generate an overturning moment or an upward buoyancy at the center of gravity of the submersible to achieve the change of the submersible attitude and depth, this technical solution needs to dissipate heat passively through external seawater. When the internal phase change material melts and expands, it needs to be quickly heated to ensure that the heat generated by the heater is greater than the heat dissipated by the external seawater, resulting in problems of relatively large energy consumption and slow attitude adjustment response speed (considering that as the seawater depth increases, the seawater temperature generally shows a decreasing trend, especially within the depth range of 1000 meters, the seawater temperature decreases significantly with the increase of depth, so this problem will be particularly serious), and after waiting for the heat generated by the heater to be less than the heat dissipated by the external seawater, the internal phase change material will solidify and reduce its volume, resulting in a situation of wasted heat energy, affecting the endurance of the submersible. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and system for controlling the attitude of a submersible, a computer-readable storage medium, and a computer program product, so as to solve the problems of slow attitude adjustment response speed, relatively large energy consumption, and energy waste existing in the existing submersible attitude and depth adjustment scheme based on phase change expansion.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: In a first aspect, a method for controlling the attitude of a submersible is provided, which is executed by an industrial control computer in the submersible attitude control system. The submersible attitude control system further includes a plurality of electrolysis water reaction and reverse reaction switching devices arranged at the position of the buoyancy center plane of the submersible. Each electrolysis water reaction and reverse reaction switching device is respectively configured with an airbag for storing the gas produced by the electrolysis water reaction and required for the reverse reaction. Each airbag is internally provided with a barometric pressure sensor. The output end of the barometric pressure sensor is communicatively connected to the input end of the industrial control computer, and the output end of the industrial control computer is communicatively connected to the controlled end of the electrolysis water reaction and reverse reaction switching device; The method for controlling the attitude of the submersible includes: Obtain the target attitude information of the submersible, specifically including: parsing the attitude adjustment instruction from the user or the inertial navigation device to obtain the target attitude information of the submersible including the pitch angle, yaw angle, and roll angle; Determine the internal target air pressure values of all the airbags according to the target attitude information, specifically including: importing the pitch angle, yaw angle, and roll angle in the target attitude information into a pre-established mapping model of attitude data and airbag volume ratio data to obtain the target volume ratios of all the airbags. The mapping model of attitude data and airbag volume ratio data is used to reflect the one-to-one mapping relationship between the submersible attitude and the internal drainage volume distribution of the submersible. The submersible attitude is represented by the pitch angle, yaw angle, and roll angle of the submersible, and the internal drainage volume distribution of the submersible is represented by the volume ratios of all the airbags in the submersible; determine the internal current air pressure values of each airbag respectively according to the real-time air pressure values from all the barometric pressure sensors; calculate the internal target air pressure values of each airbag according to the target volume ratios and internal current air pressure values of all the airbags according to the following formula:

[0006] In the formula, represents the total number of the airbags, and respectively represent positive integers less than or equal to , represents the internal target air pressure value of the rd airbag, represents the internal current air pressure value of the th airbag, represents the internal current air pressure value of the th airbag, represents the target volume ratio value of the th airbag, represents the The target volume ratio of each of the airbags, where the target volume ratio refers to the value corresponding to a single airbag among the target volume ratios of all the airbags; Based on the internal target air pressure values of all the airbags and the real-time air pressure values from all the air pressure sensors, control the electrolysis reaction process or the reverse reaction process of the multiple electrolysis water reaction and reverse reaction switching devices until the internal air pressure value of each airbag reaches the corresponding internal target air pressure value respectively, so as to dynamically adjust the drainage volume distribution inside the submersible by using the volume changes of all the airbags, and further generate an overturning moment at the center of gravity of the submersible to achieve the change of the submersible from the current attitude to the target attitude.

[0007] Based on the above invention content, a new scheme for controlling the attitude of a submersible based on the electrolysis reaction and reverse reaction is provided. That is, it is executed by the industrial control computer in the submersible attitude control system. First, determine the internal target air pressure values of all the airbags according to the target attitude information, and then combine the real-time air pressure values from all the air pressure sensors to control the electrolysis reaction process or the reverse reaction process of the multiple electrolysis water reaction and reverse reaction switching devices until the internal air pressure value of each airbag reaches the corresponding internal target air pressure value respectively, so as to dynamically adjust the drainage volume distribution inside the submersible by using the volume changes of all the airbags, and further generate an overturning moment at the center of gravity of the submersible to achieve the change of the submersible from the current attitude to the target attitude. Thus, compared with the existing attitude adjustment scheme based on phase change expansion, it is not necessary to perform passive heat dissipation through external seawater, so that it is not necessary to increase energy consumption to offset seawater heat dissipation when the airbags expand, which is beneficial to accelerating the attitude adjustment response speed. And since electrical energy is converted into chemical energy and then restored to electrical energy during the expansion and contraction of the airbags, heat dissipation can be avoided, and the purpose of energy recovery and utilization can be achieved, which is beneficial to improving the endurance of the submersible and is convenient for practical application and popularization.

[0008] In a possible design, based on the internal target air pressure values of all the airbags and the real-time air pressure values from all the air pressure sensors, controlling the electrolysis reaction process or the reverse reaction process of the multiple electrolysis water reaction and reverse reaction switching devices includes: Respectively determine the internal current air pressure value of each airbag according to the real-time air pressure values from all the air pressure sensors; For each airbag, if the corresponding internal current air pressure value is less than the corresponding internal target air pressure value, then according to the real-time air pressure value from the air pressure sensor in the corresponding airbag, use the PID algorithm to control the electrolysis reaction process of the electrolysis water reaction and reverse reaction switching device to which the corresponding airbag belongs, so as to produce oxygen and hydrogen through the electrolysis reaction and increase the internal air pressure of the corresponding airbag; For each of the airbags, if the current internal air pressure value is greater than the corresponding internal target air pressure value, then according to the real-time air pressure value from the air pressure sensor in the corresponding airbag, the electrolytic water reverse reaction process of the electrolytic water reaction and reverse reaction switching device to which the corresponding airbag belongs is controlled by using a PID algorithm, so as to consume oxygen and hydrogen through the electrolytic water reverse reaction and reduce the internal air pressure of the corresponding airbag.

[0009] In a possible design, the method further includes: When receiving a diving vehicle ascending instruction, controlling the electrolytic water reaction process of the multiple electrolytic water reaction and reverse reaction switching devices and increasing the internal air pressure values of all the airbags in the same proportion; Or, when receiving a diving vehicle descending instruction, controlling the electrolytic water reverse reaction process of the multiple electrolytic water reaction and reverse reaction switching devices and reducing the internal air pressure values of all the airbags in the same proportion.

[0010] In a second aspect, the present invention provides a diving vehicle attitude control system, including an industrial control computer and multiple electrolytic water reaction and reverse reaction switching devices arranged at the centroid plane position of the diving vehicle. Among them, each of the electrolytic water reaction and reverse reaction switching devices is respectively configured with an airbag for storing the gases produced by the electrolytic water reaction and required for the reverse reaction. Each of the airbags is respectively internally provided with an air pressure sensor. The output end of the air pressure sensor is communicatively connected to the input end of the industrial control computer, and the output end of the industrial control computer is communicatively connected to the controlled end of the electrolytic water reaction and reverse reaction switching device; The electrolytic water reaction and reverse reaction switching device is used to produce oxygen and hydrogen through the electrolytic water reaction to increase the internal air pressure of the corresponding airbag, or consume oxygen and hydrogen through the electrolytic water reverse reaction to reduce the internal air pressure of the corresponding airbag under the control of the industrial control computer; The air pressure sensor is used to collect the internal air pressure information of the corresponding airbag in real time and transmit the collection result to the industrial control computer in real time; The industrial control computer is used to execute the diving vehicle attitude control method as described in the first aspect or any possible design in the first aspect.

[0011] In a possible design, the electrolytic water reaction and reverse reaction switching device includes a DC power supply, an electric control switch, an electrolytic water module, a first air valve, a second air valve, and a hydrogen fuel cell. The airbag includes a hydrogen airbag and an oxygen airbag; The DC power supply, the electric control switch, and the electrolytic water module are electrically connected in sequence. Among them, the controlled end of the electric control switch is communicatively connected to the PWM signal output end of the industrial control computer; The hydrogen output port of the electrolyzed water module, the hydrogen gas bag, the first gas valve, and the hydrogen input port of the hydrogen fuel cell are connected in sequence. Among them, the controlled end of the first gas valve is communicatively connected to the first digital output terminal of the industrial control computer; The oxygen output port of the electrolyzed water module, the oxygen gas bag, the second gas valve, and the oxygen input port of the hydrogen fuel cell are connected in sequence. Among them, the controlled end of the second gas valve is communicatively connected to the second digital output terminal of the industrial control computer; The water outlet of the hydrogen fuel cell is connected to the water inlet of the electrolyzed water module.

[0012] In a possible design, the DC power supply uses a lithium battery, and the electrolyzed water reaction and reverse reaction switching device further includes a charging management module. Among them, the hydrogen fuel cell is electrically connected to the lithium battery through the charging management module.

[0013] In a third aspect, the present invention provides a computer-readable storage medium, on which instructions are stored. When the instructions run on a computer, they execute the submersible attitude control method as described in the first aspect or any possible design in the first aspect.

[0014] In a fourth aspect, the present invention provides a computer program product, including a computer program or instructions. When the computer program or the instructions are executed by a computer, they implement the submersible attitude control method as described in the first aspect or any possible design in the first aspect.

[0015] Beneficial effects of the above solutions: (1) The present invention creatively provides a new solution for submersible attitude control based on electrolyzed water reaction and reverse reaction, which is executed by the industrial control computer in the submersible attitude control system. First, the internal target air pressure values of all air bags are determined according to the target attitude information, and then combined with the real-time air pressure values from all pressure sensors, the electrolyzed water reaction process or reverse reaction process of multiple electrolyzed water reaction and reverse reaction switching devices is controlled until the internal air pressure values of each air bag reach the corresponding internal target air pressure values respectively, so as to dynamically adjust the drainage volume distribution in the submersible by using the volume change of all air bags, and then generate an overturning moment at the center of gravity of the submersible to realize the change of the submersible from the current attitude to the target attitude. Therefore, compared with the existing attitude adjustment solution based on phase change expansion, it is not necessary to perform passive heat dissipation through external seawater, so that it is not necessary to increase energy consumption to offset seawater heat dissipation when the air bag expands, which is beneficial to accelerating the attitude adjustment response speed. And because the electrical energy is converted into chemical energy and then restored to electrical energy during the expansion and contraction of the air bag, heat dissipation can be avoided, and the purpose of energy recovery and utilization can be achieved, which is beneficial to improving the endurance of the submersible and facilitating practical application and promotion. Description of the Drawings

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0017] Figure 1 It is a schematic flowchart of the submersible attitude control method provided by the embodiment of the present application.

[0018] Figure 2 It is a schematic structural diagram of the submersible attitude control system provided by the embodiment of the present application.

[0019] Figure 3 It is an example diagram of the installation structure of the industrial control computer and the electrolysis water reaction and reverse reaction switching device in the submersible attitude control system provided by the embodiment of the present application.

[0020] In the above-mentioned drawings: 1 - industrial control computer; 2 - electrolysis water reaction and reverse reaction switching device; 21 - DC power supply; 22 - electric control switch; 23 - electrolysis water module; 241 - first air valve; 242 - second air valve; 25 - hydrogen fuel cell; 26 - charging management module; 3 - airbag; 31 - hydrogen airbag; 32 - oxygen airbag; 4 - pressure sensor; 100 - outer shell; 200 - submersible cabin; 300 - annular frame. Specific embodiments

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the present invention in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the drawing structure is only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other embodiments can be obtained based on these embodiments. It should be noted here that the description of these embodiment modes is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0022] It should be understood that although terms such as first and second may be used herein to describe various objects, these objects should not be limited by these terms. These terms are only used to distinguish one object from another. For example, the first object can be called the second object, and similarly, the second object can be called the first object, without departing from the scope of the exemplary embodiments of the present invention.

[0023] It should be understood that for the term "and / or" that may appear in this text, it is merely a description of the relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, B exists alone, or both A and B exist simultaneously. Another example, A, B, and / or C can represent any one of A, B, and C or any combination of them. For the term " / and" that may appear in this text, it is a description of another relationship between associated objects, indicating that there can be two relationships. For example, A / and B can represent two situations: A exists alone or both A and B exist simultaneously. Additionally, for the character " / " that may appear in this text, it generally indicates that the associated objects before and after are in an "or" relationship.

[0024] Embodiment As Figures 1 to 3 shown, the submersible attitude control method provided in the first aspect of this embodiment can be, but is not limited to, executed by an industrial control computer 1 with certain computing resources and in the submersible attitude control system. Among them, the submersible attitude control system further includes, but is not limited to, a plurality of electrolytic water reaction and reverse reaction switching devices 2 arranged at the position of the center of buoyancy plane of the submersible, etc. Each electrolytic water reaction and reverse reaction switching device 2 is respectively configured with an airbag 3 for storing the gas produced by the electrolytic water reaction and required for the reverse reaction. Each airbag 3 is respectively internally provided with a pressure sensor 4. The output end of the pressure sensor 4 is communicatively connected to the input end of the industrial control computer 1, and the output end of the industrial control computer 1 is communicatively connected to the controlled end of the electrolytic water reaction and reverse reaction switching device 2.

[0025] As Figures 2 to 3As shown, in the specific structure of the submersible attitude control system, the electrolytic water reaction and reverse reaction switching device 2 is the core unit for inflating or deflating the airbag based on the electrolytic water reaction or reverse reaction (the electrolytic water reaction or reverse reaction is significantly different from the phase change expansion principle, the former is a chemical reaction and the latter is a physical reaction), and is used to produce oxygen and hydrogen through the electrolytic water reaction to increase the internal air pressure of the corresponding airbag under the control of the industrial control computer 1, or to consume oxygen and hydrogen through the reverse electrolytic water reaction to reduce the internal air pressure of the corresponding airbag. The airbag 3 is used to dynamically change the drainage volume at the position where it is located by expanding or contracting, so as to dynamically adjust the distribution of the drainage volume inside the submersible through all the airbags 3 globally, and then generate an overturning moment at the center of gravity of the submersible to realize the change of the submersible attitude; specifically, it can be realized by using an elastic capsule similar to a balloon. The air pressure sensor 4 is used to collect the internal air pressure information of the corresponding airbag in real time and transmit the collected result to the industrial control computer 1 in real time; specifically, it can be realized by using existing sensor products. The industrial control computer 1 is used to execute the specific submersible attitude control method to realize attitude adjustment, and its hardware can specifically but not limited to be realized conventionally by using existing single-chip microcomputer chips or FPGA (Field Programmable Gate Array) chips, etc. Specifically, as Figure 3 shown, when the submersible includes a housing 100 and has a submersible cabin 200 inside the housing 100, a circular frame 300 can be arranged near the position of the buoyancy plane in the submersible cabin 200, and then the multiple electrolytic water reaction and reverse reaction switching devices 2 are circumferentially and equally spaced on the upper surface of the circular frame 300, and the industrial control computer 1 is installed below the circular frame 300.

[0026] In order to realize the recycling of the water body in the device and keep the weight of the whole device constant while inflating or deflating the airbag (that is, to ensure the constant weight of each electrolytic water reaction and reverse reaction switching device 2, and then ensure that the center of gravity of the whole submersible remains unchanged), preferably, as Figure 2As shown, the electrolytic water reaction and reverse reaction switching device 2 includes, but is not limited to, a DC power supply 21, an electric control switch 22, an electrolytic water module 23, a first gas valve 241, a second gas valve 242, a hydrogen fuel cell 25, etc. The airbag 3 includes, but is not limited to, a hydrogen airbag 31, an oxygen airbag 32, etc.; the DC power supply 21, the electric control switch 22, and the electrolytic water module 23 are electrically connected in sequence. Among them, the controlled end of the electric control switch 22 is communicatively connected to the PWM (Pulse Width Modulation) signal output end of the industrial control computer 1; the hydrogen output port of the electrolytic water module 23, the hydrogen airbag 31, the first gas valve 241, and the hydrogen input port of the hydrogen fuel cell 25 are connected in sequence. Among them, the controlled end of the first gas valve 241 is communicatively connected to the first digital quantity signal output end of the industrial control computer 1; the oxygen output port of the electrolytic water module 23, the oxygen airbag 32, the second gas valve 242, and the oxygen input port of the hydrogen fuel cell 25 are connected in sequence. Among them, the controlled end of the second gas valve 242 is communicatively connected to the second digital quantity signal output end of the industrial control computer 1; the water outlet of the hydrogen fuel cell 25 is connected to the water inlet of the electrolytic water module 23. The DC power supply 21 is used to provide the direct current required for the electrolytic water reaction; the electric control switch 22 is used to control the on / off of the power supply branch of the electrolytic water module 23 through the PWM signal from the industrial control computer 1. Furthermore, the control of the electrolytic water reaction process can be achieved by adjusting the duty cycle of the PWM signal (because the current magnitude is one of the most direct factors affecting the electrolysis speed of water: the smaller the duty cycle, the larger the current, and the faster the electrolysis speed of water, and vice versa); the electric control switch 22 can be specifically implemented by, but is not limited to, using thyristors, etc. The electrolytic water module 23 is used to carry out the electrolytic water reaction to produce hydrogen and oxygen, and it can be realized by making conventional modifications based on the existing electrolytic cell structure. The first gas valve 241 and the second gas valve 242 are used to control the on / off of the hydrogen supply branch and the oxygen supply branch of the hydrogen fuel cell 25 respectively through the digital quantity signal from the industrial control computer 1. Furthermore, the control of the reverse electrolytic water reaction process can be achieved by adjusting the valve opening (that is, the larger the valve opening, the larger the amount of hydrogen and oxygen supplied, and the faster the speed of the reverse reaction to synthesize water, and vice versa); the above two gas valves can preferably be implemented by using existing flow valves in a conventional manner. The hydrogen fuel cell 25 is used to carry out the reverse electrolytic water reaction to consume hydrogen and oxygen, and it can be realized by making conventional modifications based on the existing hydrogen fuel cell structure. Through the specific design of the foregoing device, while the airbag expands or contracts, the electrolytic water can undergo the following recycling process: water -> hydrogen + oxygen -> water, and then flow back to the electrolytic water module 23. Thus, there is no material loss in the whole device, ensuring that the center of gravity of the entire submersible remains unchanged, and further facilitating the stability of the attitude adjustment of the submersible.In addition, for the purpose of realizing energy recovery and utilization, it is further preferable that the DC power supply 21 adopts a lithium battery, and the electrolytic water reaction and reverse reaction switching device 2 further includes a charging management module 26, wherein the hydrogen fuel cell 25 is electrically connected to the lithium battery through the charging management module 26; the charging management module 26 is used to charge the electric energy obtained from the reaction of the hydrogen fuel cell 25 into the lithium battery, and specifically, it can be conventionally realized by using an existing charging management chip and its peripheral circuit.

[0027] As Figure 1 shown, the submersible attitude control method includes, but is not limited to, the following steps S1 to S3.

[0028] S1. Obtain the target attitude information of the submersible.

[0029] In the step S1, the target attitude information may be a control command from the user or a control command from the navigation device. Therefore, specifically, obtaining the target attitude information of the submersible includes, but is not limited to: analyzing the attitude adjustment instruction from the user or the inertial navigation device to obtain the target attitude information of the submersible including the pitch angle, yaw angle, and roll angle.

[0030] S2. Determine the internal target air pressure values of all the airbags 3 according to the target attitude information.

[0031] In the step S2, considering that there is a one-to-one mapping relationship between the submersible attitude and the distribution of the drainage volume inside the submersible (for example, if the drainage volume in the front part of the submersible is greater than that in the rear part, the submersible attitude will be in a state of the front part rising), and there is a one-to-many mapping relationship between the distribution of the drainage volume inside the submersible and the internal air pressure values of all the airbags 3 (for example: if the drainage volume ratio between the front part and the rear part of the submersible is 2:1, the internal air pressures of the airbags in the front part and the rear part of the submersible can be 2 standard atmospheric pressures and 1 standard atmospheric pressure respectively, or 4 standard atmospheric pressures and 2 standard atmospheric pressures, etc.), so for the purpose of minimizing the air pressure adjustment amount and the required costs (including time cost and energy cost, etc.) in the subsequent steps, preferably, determining the internal target air pressure values of all the airbags 3 according to the target attitude information includes, but is not limited to, the following steps S21 to S23.

[0032] S21. Import the pitch angle, yaw angle, and roll angle in the target attitude information into a pre-established mapping model of attitude data and airbag volume ratio data to obtain the target volume ratios of all the airbags 3, where the mapping model of attitude data and airbag volume ratio data is used to reflect the one-to-one mapping relationship between the submersible attitude and the distribution of the drainage volume inside the submersible, the submersible attitude is represented by the pitch angle, yaw angle, and roll angle of the submersible, and the distribution of the drainage volume inside the submersible is represented by the volume ratios of all the airbags 3 inside the submersible.

[0033] In the step S21, the attitude data and airbag volume ratio data mapping model can be conventionally fitted in advance based on partial experimental data. The volume ratios of all the airbags 3 represent the proportional relationship among the volumes of all the airbags 3. For example, if the number of airbags 3 is 5, after importing the pitch angle, yaw angle, and roll angle in the target attitude information into the attitude data and airbag volume ratio data mapping model together, the target volume ratios of all the airbags 3 may be 7:3:2:1:5.

[0034] S22. Determine the current internal air pressure value of each airbag 3 respectively according to the real-time air pressure values from all the air pressure sensors 4.

[0035] In the step S22, since the air pressure sensor 4 is built in the corresponding airbag 3, the real-time air pressure value collected currently can be used as the current internal air pressure value of the corresponding airbag 3.

[0036] S23. Calculate the target internal air pressure value of each airbag 3 according to the target volume ratios and the current internal air pressure values of all the airbags 3 according to the following formula:

[0037] In the formula, represents the total number of the airbags 3, and respectively represent positive integers less than or equal to , represents the th target internal air pressure value of the airbag 3, represents the th current internal air pressure value of the airbag 3, represents the th current internal air pressure value of the airbag 3, represents the th target volume ratio value of the airbag 3, represents the th target volume ratio value of the airbag 3, and the target volume ratio value refers to the value corresponding to a single airbag 3 in the target volume ratios of all the airbags 3.

[0038] In the step S23, for example, among the target volume ratios of all the airbags 3 being 7:3:2:1:5, the target volume ratio corresponding to the first airbag 3 is 7, the target volume ratio corresponding to the second airbag 3 is 3, the target volume ratio corresponding to the third airbag 3 is 2, the target volume ratio corresponding to the fourth airbag 3 is 1, and the target volume ratio corresponding to the fifth airbag 3 is 5. Based on these values and the current internal air pressure values of all the airbags 3, the internal target air pressure value of each airbag 3 can be calculated.

[0039] S3. According to the internal target air pressure values of all the airbags 3 and the real-time air pressure values from all the air pressure sensors 4, control the electrolysis reaction process or the reverse reaction process of the multiple electrolysis water reaction and reverse reaction switching devices 2 until the internal air pressure value of each airbag 3 reaches the corresponding internal target air pressure value respectively, so as to dynamically adjust the drainage volume distribution in the submersible by using the volume change of all the airbags 3, and further generate an overturning moment at the center of gravity of the submersible to realize the change of the submersible from the current attitude to the target attitude.

[0040] In the step S3, in order to suppress overshoot and improve the stability of attitude adjustment, preferably, according to the internal target air pressure values of all the airbags 3 and the real-time air pressure values from all the air pressure sensors 4, controlling the electrolysis reaction process or the reverse reaction process of the multiple electrolysis water reaction and reverse reaction switching devices 2 includes, but is not limited to, the following steps S31 to S33.

[0041] S31. According to the real-time air pressure values from all the air pressure sensors 4, respectively determine the current internal air pressure value of each airbag 3.

[0042] S32. For each airbag 3, if the corresponding current internal air pressure value is less than the corresponding internal target air pressure value, then according to the real-time air pressure value from the air pressure sensor 4 in the corresponding airbag, use the PID algorithm to control the electrolysis reaction process of the electrolysis water reaction and reverse reaction switching device 2 to which the corresponding airbag belongs, so as to produce oxygen and hydrogen through the electrolysis reaction and increase the internal air pressure of the corresponding airbag.

[0043] In the step S32, the PID algorithm is a closed-loop control algorithm based on the combination of three links: Proportional, Integral, and Derivative, which is used to eliminate system errors and achieve stable control. It adjusts the output in real time to enable the controlled object to quickly and accurately reach the set value, and is widely used in industrial control, robotics, aerospace and other fields. Therefore, it can be modified conventionally to be applicable to this step, thereby suppressing overshoot and improving the stability of attitude adjustment. In addition, the control signal generated based on the PID algorithm is the PWM signal used to control the electric control switch 22.

[0044] S33. For each of the airbags 3, if the corresponding current internal air pressure value is greater than the corresponding target internal air pressure value, then according to the real-time air pressure value from the air pressure sensor 4 in the corresponding airbag, the PID algorithm is used to control the electrolytic water reverse reaction process of the electrolytic water reaction and reverse reaction switching device 2 to which the corresponding airbag belongs, so as to consume oxygen and hydrogen through the electrolytic water reverse reaction and reduce the internal air pressure of the corresponding airbag.

[0045] In the step S33, the control signal generated based on the PID algorithm is the digital signal used to control the first air valve 241 and the second air valve 242.

[0046] In addition, in order to achieve the control of the ascent and descent of the submersible, preferably, the method further includes, but is not limited to: when receiving the submersible ascent command, controlling the electrolytic water reaction process of the multiple electrolytic water reaction and reverse reaction switching devices 2 and increasing the internal air pressure values of all the airbags 3 in the same proportion; or, when receiving the submersible descent command, controlling the electrolytic water reverse reaction process of the multiple electrolytic water reaction and reverse reaction switching devices 2 and decreasing the internal air pressure values of all the airbags 3 in the same proportion.

[0047] Based on the submersible attitude control method described in the foregoing steps S1 to S3, a new solution for submersible attitude control based on the electrolysis of water reaction and the reverse reaction is provided. That is, it is executed by the industrial control computer in the submersible attitude control system. First, the internal target air pressure values of all airbags are determined according to the target attitude information, and then, in combination with the real-time air pressure values from all pressure sensors, the electrolysis process or the reverse reaction process of multiple electrolysis of water reaction and reverse reaction switching devices is controlled until the internal air pressure values of each airbag reach the corresponding internal target air pressure values respectively, so as to dynamically adjust the drainage volume distribution in the submersible by using the volume change of all airbags, and further generate an overturning moment at the center of gravity of the submersible to realize the change of the submersible from the current attitude to the target attitude. Therefore, compared with the existing attitude adjustment scheme based on phase change expansion, it is not necessary to dissipate heat passively through external seawater, so that it is not necessary to increase energy consumption to offset seawater heat dissipation when the airbag expands, which is beneficial to accelerating the attitude adjustment response speed. And because electrical energy is converted into chemical energy and then restored to electrical energy during the expansion and contraction of the airbag, heat dissipation can be avoided, and the purpose of energy recovery and utilization can be realized, which is beneficial to improving the endurance of the submersible and facilitating practical application and popularization.

[0048] As Figures 2 to 3 shown, in the second aspect of this embodiment, an entity system for implementing the submersible attitude control method described in the first aspect is provided, including an industrial control computer 1 and a plurality of electrolysis of water reaction and reverse reaction switching devices 2 arranged at the position of the buoyancy center plane of the submersible. Among them, each electrolysis of water reaction and reverse reaction switching device 2 is respectively configured with an airbag 3 for storing the gas produced by the electrolysis of water reaction and required for the reverse reaction. Each airbag 3 is respectively internally provided with a pressure sensor 4. The output end of the pressure sensor 4 is communicatively connected to the input end of the industrial control computer 1, and the output end of the industrial control computer 1 is communicatively connected to the controlled end of the electrolysis of water reaction and reverse reaction switching device 2; The electrolysis of water reaction and reverse reaction switching device 2 is used to produce oxygen and hydrogen through the electrolysis of water reaction to increase the internal air pressure of the corresponding airbag under the control of the industrial control computer 1, or to consume oxygen and hydrogen through the reverse reaction of the electrolysis of water to reduce the internal air pressure of the corresponding airbag; The pressure sensor 4 is used to collect the internal air pressure information of the corresponding airbag in real time and transmit the collection result to the industrial control computer 1 in real time; The industrial control computer 1 is used to execute the submersible attitude control method described in the first aspect.

[0049] In a possible design, the electrolysis of water reaction and reverse reaction switching device 2 includes a DC power supply 21, an electric control switch 22, an electrolysis of water module 23, a first air valve 241, a second air valve 242 and a hydrogen fuel cell 25. The airbag 3 includes a hydrogen airbag 31 and an oxygen airbag 32; The DC power supply 21, the electric control switch 22, and the electrolyzed water module 23 are electrically connected in sequence. Among them, the controlled end of the electric control switch 22 is communicatively connected to the PWM signal output end of the industrial control computer 1; The hydrogen output port of the electrolyzed water module 23, the hydrogen gas bag 31, the first gas valve 241, and the hydrogen input port of the hydrogen fuel cell 25 are communicated in sequence. Among them, the controlled end of the first gas valve 241 is communicatively connected to the first digital quantity signal output end of the industrial control computer 1; The oxygen output port of the electrolyzed water module 23, the oxygen gas bag 32, the second gas valve 242, and the oxygen input port of the hydrogen fuel cell 25 are communicated in sequence. Among them, the controlled end of the second gas valve 242 is communicatively connected to the second digital quantity signal output end of the industrial control computer 1; The water outlet of the hydrogen fuel cell 25 is communicated with the water inlet of the electrolyzed water module 23.

[0050] In a possible design, the DC power supply 21 uses a lithium battery, and the electrolyzed water reaction and reverse reaction switching device 2 further includes a charging management module 26. Among them, the hydrogen fuel cell 25 is electrically connected to the lithium battery through the charging management module 26.

[0051] For the working process, working details, and technical effects of the foregoing system provided in the second aspect of this embodiment, reference may be made to the submersible attitude control method described in the first aspect, which will not be elaborated herein.

[0052] The third aspect of this embodiment provides a computer-readable storage medium storing instructions including the submersible attitude control method described in the first aspect, that is, instructions are stored on the computer-readable storage medium. When the instructions run on a computer, the submersible attitude control method described in the first aspect is executed. Among them, the computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, computer-readable storage media such as floppy disks, optical discs, hard disks, flash memories, USB flash drives, and / or memory sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0053] For the working process, working details, and technical effects of the foregoing computer-readable storage medium provided in the fifth aspect of this embodiment, reference may be made to the submersible attitude control method described in the first aspect, which will not be elaborated herein.

[0054] The fourth aspect of this embodiment provides a computer program product including a computer program or instructions. When the computer program or the instructions are executed by a computer, the submersible attitude control method described in the first aspect is implemented. Among them, the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0055] Finally, it should be noted that 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 replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for controlling the attitude of a submersible, characterized in that It is executed by an industrial control computer (1) in a submersible attitude control system. The submersible attitude control system further includes a plurality of electrolytic water reaction and reverse reaction switching devices (2) arranged at the position of the center of buoyancy plane of the submersible. Each electrolytic water reaction and reverse reaction switching device (2) is respectively configured with an airbag (3) for storing the gas produced by the electrolytic water reaction and required for the reverse reaction. Each airbag (3) is internally provided with a barometric pressure sensor (4). The output end of the barometric pressure sensor (4) is communicatively connected to the input end of the industrial control computer (1), and the output end of the industrial control computer (1) is communicatively connected to the controlled end of the electrolytic water reaction and reverse reaction switching device (2); The submersible attitude control method includes: Obtaining the target attitude information of the submersible, specifically including: parsing the attitude adjustment instruction from a user or an inertial navigation device to obtain the target attitude information of the submersible including the pitch angle, yaw angle, and roll angle; Determining the internal target air pressure values of all the airbags (3) according to the target attitude information, specifically including: importing the pitch angle, yaw angle, and roll angle in the target attitude information into a pre-established mapping model of attitude data and airbag volume ratio data to obtain the target volume ratios of all the airbags (3). The mapping model of attitude data and airbag volume ratio data is used to reflect the one-to-one mapping relationship between the submersible attitude and the internal drainage volume distribution of the submersible. The submersible attitude is represented by the pitch angle, yaw angle, and roll angle of the submersible, and the internal drainage volume distribution of the submersible is represented by the volume ratios of all the airbags (3) inside the submersible; determining the internal current air pressure values of each airbag (3) respectively according to the real-time air pressure values from all the barometric pressure sensors (4); calculating the internal target air pressure values of each airbag (3) according to the target volume ratios and internal current air pressure values of all the airbags (3) according to the following formula: Wherein, represents the total number of the air bags (3), and respectively represent positive integers less than or equal to , represents the internal target air pressure value of the -th air bag (3), represents the internal current air pressure value of the -th air bag (3), represents the internal current air pressure value of the -th air bag (3), represents the target volume ratio of the -th air bag (3), represents the target volume ratio of the -th air bag (3), and the target volume ratio refers to the value corresponding to a single air bag (3) among the target volume ratios of all the air bags (3); Controlling the electrolytic water reaction process or reverse reaction process of the plurality of electrolytic water reaction and reverse reaction switching devices (2) according to the internal target air pressure values of all the airbags (3) and the real-time air pressure values from all the barometric pressure sensors (4) until the internal air pressure values of each airbag (3) reach the corresponding internal target air pressure values respectively, so as to dynamically adjust the internal drainage volume distribution of the submersible by using the volume changes of all the airbags (3), and further generate an overturning moment at the center of gravity of the submersible to realize the change of the submersible from the current attitude to the target attitude.

2. The attitude control method of the submersible according to claim 1, characterized in that Controlling the electrolytic water reaction process or reverse reaction process of the plurality of electrolytic water reaction and reverse reaction switching devices (2) according to the internal target air pressure values of all the airbags (3) and the real-time air pressure values from all the barometric pressure sensors (4) includes: Determining the internal current air pressure values of each airbag (3) respectively according to the real-time air pressure values from all the barometric pressure sensors (4); For each of the airbags (3), if the current internal air pressure value is less than the corresponding internal target air pressure value, according to the real-time air pressure value from the air pressure sensor (4) in the corresponding airbag, the electrolysis reaction process of the electrolysis water reaction and reverse reaction switching device (2) to which the corresponding airbag belongs is controlled by using a PID algorithm, so as to produce oxygen and hydrogen through the electrolysis reaction and increase the internal air pressure of the corresponding airbag; For each of the airbags (3), if the current internal air pressure value is greater than the corresponding internal target air pressure value, according to the real-time air pressure value from the air pressure sensor (4) in the corresponding airbag, the reverse electrolysis reaction process of the electrolysis water reaction and reverse reaction switching device (2) to which the corresponding airbag belongs is controlled by using a PID algorithm, so as to consume oxygen and hydrogen through the reverse electrolysis reaction and reduce the internal air pressure of the corresponding airbag.

3. The attitude control method of the submersible according to claim 1, characterized in that, The method further includes: When receiving a diving vehicle ascending instruction, controlling the electrolysis reaction process of the multiple electrolysis water reaction and reverse reaction switching devices (2) and increasing the internal air pressure values of all the airbags (3) in the same proportion; Or, when receiving a diving vehicle descending instruction, controlling the reverse electrolysis reaction process of the multiple electrolysis water reaction and reverse reaction switching devices (2) and reducing the internal air pressure values of all the airbags (3) in the same proportion.

4. A submersible attitude control system, characterized in that, It includes an industrial control computer (1) and multiple electrolysis water reaction and reverse reaction switching devices (2) arranged at the centroid plane position of the diving vehicle. Among them, each electrolysis water reaction and reverse reaction switching device (2) is respectively configured with an airbag (3) for storing the gases produced by the electrolysis reaction and required for the reverse reaction. Each airbag (3) is respectively internally provided with an air pressure sensor (4). The output end of the air pressure sensor (4) is communicatively connected to the input end of the industrial control computer (1), and the output end of the industrial control computer (1) is communicatively connected to the controlled end of the electrolysis water reaction and reverse reaction switching device (2); The electrolysis water reaction and reverse reaction switching device (2) is used to produce oxygen and hydrogen through the electrolysis reaction to increase the internal air pressure of the corresponding airbag, or consume oxygen and hydrogen through the reverse electrolysis reaction to reduce the internal air pressure of the corresponding airbag under the control of the industrial control computer (1); The air pressure sensor (4) is used to collect the internal air pressure information of the corresponding airbag in real time and transmit the collection result to the industrial control computer (1) in real time; The industrial control computer (1) is used to execute the diving vehicle attitude control method according to any one of claims 1 to 3.

5. The attitude control system of the submersible according to claim 4, wherein, The electrolysis water reaction and reverse reaction switching device (2) includes a DC power supply (21), an electric control switch (22), an electrolysis water module (23), a first air valve (241), a second air valve (242), and a hydrogen fuel cell (25). The airbag (3) includes a hydrogen airbag (31) and an oxygen airbag (32); The DC power supply (21), the electric control switch (22), and the electrolysis water module (23) are electrically connected in sequence. Among them, the controlled end of the electric control switch (22) is communicatively connected to the PWM signal output end of the industrial control computer (1); The hydrogen output port of the electrolyzed water module (23), the hydrogen gas bag (31), the first gas valve (241), and the hydrogen input port of the hydrogen fuel cell (25) are connected in sequence. Among them, the controlled end of the first gas valve (241) is communicatively connected to the first digital quantity signal output end of the industrial control computer (1); The oxygen output port of the electrolyzed water module (23), the oxygen gas bag (32), the second gas valve (242), and the oxygen input port of the hydrogen fuel cell (25) are connected in sequence. Among them, the controlled end of the second gas valve (242) is communicatively connected to the second digital quantity signal output end of the industrial control computer (1); The water outlet of the hydrogen fuel cell (25) is connected to the water inlet of the electrolyzed water module (23).

6. The attitude control system of a submersible according to claim 5, wherein The DC power supply (21) uses a lithium battery. The electrolyzed water reaction and reverse reaction switching device (2) further includes a charging management module (26). Among them, the hydrogen fuel cell (25) is electrically connected to the lithium battery through the charging management module (26).

7. A computer-readable storage medium, characterized in that, Instructions are stored on the computer-readable storage medium. When the instructions are run on a computer, the submersible attitude control method according to any one of claims 1 to 3 is executed.

8. A computer program product, comprising a computer program or instructions, characterized in that, The computer program or the instructions, when executed by a computer, implement the submersible attitude control method according to any one of claims 1 to 3.

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