Autonomous underwater vehicle motion control method and motion control system

Abstract

The invention provides an autonomous underwater vehicle control method and system, and relates to the technical field of equipment control, and the method comprises the steps: obtaining the expected parameters of a control target and the actual parameters of the control target of an autonomous underwater vehicle in a current motion control mode; determining a control deviation signal of the expected parameter and the actual parameter; according to the control deviation signal, determining a target control signal by adopting a control algorithm of a target execution mechanism of a current motion control mode in a driving system of the autonomous underwater vehicle; according to the target control signal, adopting a motion control model of the target execution mechanism to determine a motion driving signal of the target execution mechanism; and controlling the target execution mechanism according to the motion driving signal. According to the invention, the control accuracy and control efficiency of the target execution mechanism of the autonomous underwater vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of equipment control technology, and in particular to a motion control method and a motion control system for an autonomous underwater vehicle. Background Art

[0002] Autonomous underwater vehicles (AUVs), underwater robots with perception, decision-making, and execution capabilities, are widely considered essential tools for understanding and developing the ocean. As key equipment in modern ocean development, AUVs possess exceptional underwater detection capabilities, sustained operational capabilities, and the ability to perform hazardous missions.

[0003] At present, the complex and time-varying underwater environment places high demands on the structural design and control algorithm of the vehicle. Considering the high cost of the hardware platform of the autonomous underwater vehicle and the risk of the experiment, the modular design concept is mainly adopted. The unmanned underwater vehicle model, sensors, etc. are arranged in the simulator for visual simulation, and the control program and communication messages are stored in the robot operating system environment for operation to realize the motion control simulation of the unmanned underwater vehicle model.

[0004] However, due to the increasing complexity of the movements of autonomous underwater vehicles, simulators cannot fully replicate the real movement environment and scenes, which may lead to accidents in actual operations. In addition, the environment in the simulator may differ from the real environment in terms of physical properties and perception capabilities, which may affect the motion control of the autonomous underwater vehicle. Summary of the Invention

[0005] The purpose of this application is to address the deficiencies in the above-mentioned prior art and provide a motion control method and motion control system for an autonomous underwater vehicle. By determining the target control signal of the autonomous underwater vehicle in the current motion control mode, the target actuator of the autonomous underwater vehicle is controlled, thereby improving the accuracy of control of the target actuator of the autonomous underwater vehicle and improving the control efficiency of the target actuator of the autonomous underwater vehicle.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0007] In a first aspect, an embodiment of the present application provides a method for moving an autonomous underwater vehicle, the method comprising:

[0008] Obtaining expected parameters of a control target of the autonomous underwater vehicle in a current motion control mode and actual parameters of the control target;

[0009] Determining a control deviation signal of the expected parameter and the actual parameter;

[0010] determining a target control signal using a control algorithm of a target actuator of the current motion control mode in a drive system of the autonomous underwater vehicle according to the control deviation signal;

[0011] Determining a motion drive signal for the target actuator using a motion control model of the target actuator according to the target control signal;

[0012] The target actuator is controlled according to the motion drive signal.

[0013] Optionally, the current motion control mode is the first motion control mode, the control target includes: ship speed, and the target execution mechanism includes: a stern main thrust mechanism;

[0014] The determining of the control deviation signal of the expected parameter and the actual parameter includes:

[0015] Determining a speed deviation signal according to the expected speed parameter and the actual speed parameter, wherein the control deviation signal includes: the speed deviation signal;

[0016] Determining the target control signal by using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle according to the control deviation signal includes:

[0017] According to the speed deviation signal, a speed control signal is determined by adopting a control algorithm of the stern main thrust mechanism, wherein the target control signal includes: the speed control signal;

[0018] The motion control model of the target actuator includes: a speed motion control model; and determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes:

[0019] According to the speed control signal, the speed motion control model is adopted to determine the motion drive signal of the main thrust control force of the stern main thrust mechanism.

[0020] Optionally, the control target further includes: navigation depth, and the target execution mechanism further includes: a stern rudder mechanism;

[0021] The determining of the control deviation signal of the expected parameter and the actual parameter includes:

[0022] determining a depth deviation signal according to the desired parameter of the navigation depth and the actual parameter of the navigation depth, wherein the control deviation signal comprises: the depth deviation signal;

[0023] Determining the target control signal by using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle according to the control deviation signal includes:

[0024] According to the depth deviation signal, a depth control signal is determined using a control algorithm of the stern rudder mechanism, wherein the target control signal includes: the depth control signal;

[0025] The motion control model of the target actuator includes: a deep motion control model, and determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes:

[0026] According to the depth control signal, the depth motion control model is adopted to determine a motion drive signal of the pitch control force of the stern rudder mechanism.

[0027] Optionally, determining the depth control signal based on the depth deviation signal and using a control algorithm of the stern rudder mechanism includes:

[0028] generating a depth deviation gain signal according to the depth deviation signal and a preset depth adjustment coefficient;

[0029] generating a pitch angle gain signal according to an actual pitch angle of the autonomous underwater vehicle and a preset pitch angle adjustment coefficient;

[0030] The depth control signal is determined according to the depth deviation gain signal and the pitch angle gain signal and using a control algorithm of the stern rudder mechanism.

[0031] Optionally, the control target further includes: a heading angle;

[0032] The determining of the control deviation signal of the expected parameter and the actual parameter includes:

[0033] determining a heading angle deviation signal according to the desired parameters of the heading and the actual parameters of the heading, wherein the control deviation signal comprises: the heading angle deviation signal;

[0034] Determining the target control signal by using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle according to the control deviation signal includes:

[0035] According to the heading angle deviation signal, a heading angle control signal is determined by using a control algorithm of the stern rudder mechanism, wherein the target control signal includes: the heading angle control signal;

[0036] The motion control model of the target actuator includes a heading motion control model. The motion control model of the target actuator is used to determine the motion drive signal of the target actuator according to the target control signal, including:

[0037] According to the heading angle control signal, the heading motion control model is adopted to determine a motion drive signal of the yaw control force of the stern rudder mechanism.

[0038] Optionally, the current motion control mode is the second motion control mode, the control targets include: roll and heading angles, and the target actuators include: a bow lateral thruster and a stern lateral thruster;

[0039] The determining of the control deviation signal of the expected parameter and the actual parameter includes:

[0040] determining a roll deviation signal according to the desired roll parameter and the actual roll parameter;

[0041] Determining a heading angle deviation signal according to the desired parameters of the heading angle and the actual parameters of the heading angle; the control deviation signal includes: the heading angle deviation signal and the roll deviation signal;

[0042] Determining the target control signal based on the control deviation signal and using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle includes:

[0043] Determining a thrust control signal using a thrust control algorithm according to the heading angle deviation signal and the roll deviation signal, wherein the target control signal includes: the thrust control signal;

[0044] The motion control model of the target actuator includes: a first lateral motion control model of the bow lateral thruster, and a second lateral motion control model of the stern lateral thruster. Determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes:

[0045] According to the thrust control signal, the first lateral motion control model and the second lateral motion control model are used to determine a first motion drive signal of the bow lateral thruster and a second motion drive signal of the stern lateral thruster.

[0046] Optionally, determining the thrust control signal by adopting a thrust control algorithm according to the heading angle deviation signal and the roll deviation signal includes:

[0047] generating a heading angle deviation gain signal according to the heading angle deviation signal and a preset heading angle adjustment coefficient;

[0048] generating a roll deviation gain signal according to the roll deviation signal and a preset roll adjustment coefficient;

[0049] A thrust control algorithm is adopted according to the heading angle deviation gain signal and the roll deviation gain signal to determine a thrust control signal.

[0050] Optionally, the control target further includes: navigation depth and pitch angle, and the target execution mechanism includes: a bow vertical thruster and a stern vertical thruster;

[0051] The determining of the control deviation signal of the expected parameter and the actual parameter includes:

[0052] determining a depth deviation signal according to an expected parameter of the navigation depth and an actual parameter of the navigation depth;

[0053] Determining a pitch angle deviation signal according to the desired parameters of the pitch angle and the actual parameters of the pitch angle; the control deviation signal includes: the depth deviation signal and the pitch angle deviation signal;

[0054] Determining the target control signal by using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle according to the control deviation signal includes:

[0055] Determining a thrust control signal using a thrust control algorithm according to the depth deviation signal and the pitch angle deviation signal, wherein the target control signal includes: the thrust control signal;

[0056] The motion control model of the target actuator includes: a first vertical motion control model of the bow vertical thruster, and a second vertical motion control model of the stern vertical thruster. Determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes:

[0057] According to the vertical thrust control signal, the first vertical motion control model and the second vertical motion control model are used to determine a first motion drive signal for the bow vertical thruster and a second motion drive signal for the stern vertical thruster.

[0058] Optionally, determining the thrust control signal by using a thrust control algorithm according to the depth deviation signal and the pitch angle deviation signal includes:

[0059] generating a depth deviation gain signal according to the depth deviation signal and a preset depth adjustment coefficient;

[0060] generating a pitch angle deviation gain signal according to the pitch angle deviation signal and a preset pitch angle adjustment coefficient;

[0061] A thrust control algorithm is adopted according to the depth deviation gain signal and the pitch angle deviation gain signal to determine a thrust control signal.

[0062] In the second aspect, another embodiment of the present application provides a motion control system for an autonomous underwater vehicle, the control system comprising: a controller, a state sensor and a drive system, the controller, the state sensor and the drive system are all arranged on the body of the autonomous underwater vehicle, the controller is connected to the drive system, the controller is connected to the state sensor, and the controller is used to execute the motion control method for the autonomous underwater vehicle described in any one of claims 1 to 9 above.

[0063] In a third aspect, another embodiment of the present application provides a motion control device for an autonomous underwater vehicle, the device comprising:

[0064] An acquisition module, configured to acquire expected parameters of a control target of the autonomous underwater vehicle in a current motion control mode and actual parameters of the control target;

[0065] A determination module, configured to determine a control deviation signal of the expected parameter and the actual parameter;

[0066] a determination module configured to determine a target control signal based on the control deviation signal and using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle;

[0067] a determination module, configured to determine a motion drive signal of the target actuator based on the target control signal and using a motion control model of the target actuator;

[0068] A control module is used to control the target actuator according to the motion drive signal.

[0069] In a fourth aspect, another embodiment of the present application provides a computer device comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor. When the computer device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the motion control method for an autonomous underwater vehicle as described in any one of the first aspects above.

[0070] In a fifth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the motion control method for an autonomous underwater vehicle as described in any one of the first aspects above are executed.

[0071] The beneficial effects of this application are:

[0072] The present application provides an autonomous underwater vehicle control method and control system, which first obtains the expected parameters and actual parameters of the control target of the autonomous underwater vehicle in the current motion control mode; that is, the control targets in different motion control modes are different, and the control deviation signals of the expected parameters and the actual parameters are determined; and according to the control deviation signal, the control algorithm of the target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle is adopted, so the obtained control algorithm is also different, and the corresponding target control signals in different motion control modes are determined; according to the target control signal, the motion control model of the target actuator is adopted to determine the motion drive signal of the target actuator; according to different motion drive signals, the corresponding actuator is controlled, so that the target actuator in the drive system is controlled and controlled, thereby improving the accuracy of control of the target actuator of the autonomous underwater vehicle and improving the control efficiency of the target actuator of the autonomous underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0074] Figure 1 A schematic flow chart of a motion control method for an autonomous underwater vehicle provided in an embodiment of the present application;

[0075] Figure 2 A schematic diagram of the forces acting on an autonomous underwater vehicle provided in an embodiment of the present application;

[0076] Figure 3 A schematic diagram of a flow chart of determining a motion control signal in a first autonomous underwater vehicle control method provided in an embodiment of the present application;

[0077] Figure 4 A schematic diagram of determining a control signal when the control target is ship speed provided in an embodiment of the present application;

[0078] Figure 5A schematic diagram of a flow chart of determining a motion control signal in a second autonomous underwater vehicle control method provided in an embodiment of the present application;

[0079] Figure 6 A schematic diagram of determining a control signal when the control target is depth provided in an embodiment of the present application;

[0080] Figure 7 A schematic diagram of a flow chart for determining a depth control signal in a method for controlling an autonomous underwater vehicle provided in an embodiment of the present application;

[0081] Figure 8 A schematic diagram of another method for determining a control signal when the control target is depth provided in an embodiment of the present application;

[0082] Figure 9 A schematic diagram of a flow chart of determining a motion control signal in a third autonomous underwater vehicle control method provided in an embodiment of the present application;

[0083] Figure 10 A schematic diagram of determining a control signal when the control target is a heading angle provided in an embodiment of the present application;

[0084] Figure 11 A schematic diagram of a flow chart for determining a control signal in a fourth autonomous underwater vehicle control method provided in an embodiment of the present application;

[0085] Figure 12 A schematic diagram of determining a control signal when the control target is the roll heading angle provided in an embodiment of the present application;

[0086] Figure 13 A schematic diagram of a flow chart for determining a thrust control signal in a method for controlling an autonomous underwater vehicle provided in an embodiment of the present application;

[0087] Figure 14 A schematic diagram of a flow chart for determining a control signal in a fifth autonomous underwater vehicle control method provided in an embodiment of the present application;

[0088] Figure 15 A schematic diagram of determining a control signal when the control target is a depth pitch angle provided in an embodiment of the present application;

[0089] Figure 16 A schematic diagram of a flow chart for determining a vertical thrust control signal in a control method for an autonomous underwater vehicle provided in an embodiment of the present application;

[0090] Figure 17 A schematic diagram of the structure of an autonomous underwater vehicle control system provided in an embodiment of the present application;

[0091] Figure 18A schematic structural diagram of a motion control device for an autonomous underwater vehicle provided in an embodiment of the present application;

[0092] Figure 19 A schematic diagram of the computer device structure provided in an embodiment of the present application. DETAILED DESCRIPTION

[0093] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0094] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0095] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0096] To clearly describe the method provided in the embodiment of the present application, the motion control method of the autonomous underwater vehicle provided in the present application is described below with reference to a plurality of figures. The method is applied to a controller in the autonomous underwater vehicle. Figure 1 A schematic flow chart of a motion control method for an autonomous underwater vehicle provided in an embodiment of the present application, the method comprising:

[0097] Step 101: Obtain expected parameters and actual parameters of a control target of an autonomous underwater vehicle in a current motion control mode.

[0098] Among them, the motion control mode can be an under-actuated autonomous underwater vehicle control mode, an over-actuated autonomous underwater vehicle control mode, a fully-actuated autonomous underwater vehicle control mode or other drive modes, and the embodiments of the present application do not limit this. Correspondingly, different motion control modes correspond to different control targets. For example, when the motion mode is the under-actuated autonomous underwater vehicle control mode, the corresponding control targets are speed, navigation depth and heading angle. The expected parameters of the control target are determined based on factors such as mission planning, environmental perception, and navigation system. The embodiments of the present application do not limit this, and the specific details are subject to actual use. A state sensor is provided on the body of the autonomous underwater vehicle, and the state sensor is used to obtain the actual parameters of the control target of the autonomous underwater vehicle, wherein the state sensor can be a posture sensor, a depth sensor, a speed sensor or other sensors, and the embodiments of the present application do not limit this. The posture sensor can be a gyroscope or an accelerometer.

[0099] Optionally, the current motion control module of the autonomous underwater vehicle is determined, and the corresponding control target is determined according to the current motion control mode, thereby determining the expected parameters of the control target, and determining the actual parameters of the control target according to the data returned by the state sensor.

[0100] Step 102: Determine a control deviation signal of the expected parameter and the actual parameter.

[0101] The deviation control signal is used to adjust the control target in the motion control mode of the autonomous underwater vehicle.

[0102] Optionally, the expected parameter and the actual parameter are compared to determine a control deviation of the control target, and a corresponding control deviation signal is obtained according to the control deviation.

[0103] Step 103: Determine a target control signal based on the control deviation signal and using a control algorithm of a target actuator in a current motion control mode in a drive system of the autonomous underwater vehicle.

[0104] The target actuators may include a stern main propulsion mechanism, a stern rudder mechanism, a bow lateral thruster mechanism, a stern lateral thruster mechanism, a bow vertical thruster mechanism, a stern vertical thruster mechanism, and other actuators. This embodiment of the present application does not impose any restrictions on this, and the specific actuators may be determined based on the actual usage scenario. The drive system of the autonomous underwater vehicle includes multiple actuators, and different actuators can be used to control the speed, depth, heading angle, yaw angle, and other related factors of the autonomous underwater vehicle. This embodiment of the present application does not impose any restrictions on this.

[0105] The control algorithm is a proportional-integral-differential controller, which is a linear controller. By adjusting the proportional gain k p , integral gain k iand the differential gain k d To achieve a better control effect on the error signal, as shown in Table 1, this table is a definition table of proportional-integral-differential control gain coefficients, including: the mathematical expressions corresponding to the proportional, integral, and differential control gains and their functions.

[0106]

[0107] Table 1 Proportional-integral-derivative control gain coefficient definition table

[0108] Optionally, the target execution of the current motion control mode in the drive system of the autonomous underwater vehicle is determined, thereby determining the corresponding proportional-integral-differential controller of the target actuator, and then using the corresponding proportional-integral-differential controller according to the control deviation signal to obtain the target control signal.

[0109] Step 104 : According to the target control signal, a motion control model of the target actuator is used to determine a motion drive signal of the target actuator.

[0110] Among them, the motion control model consists of a dynamic model and a kinematic model of the autonomous underwater vehicle. Different motion control models can be obtained according to different motion control modes. Figure 2 A schematic diagram of the forces acting on an autonomous underwater vehicle provided in an embodiment of the present application is shown in FIG. Figure 2 As shown in Figure 1, the kinematic model defines a fixed coordinate system E-ξηζ fixed to the ground, which is a right-handed coordinate system; the kinematic model describes the position and direction of the autonomous underwater vehicle relative to the ground coordinate system, and the dynamic model is a moving coordinate system O-xyz fixed to the autonomous underwater vehicle, which is a right-handed coordinate system.

[0111] Alternatively, the general motion of the autonomous underwater vehicle within six degrees of freedom can be described by the following formula (1).

[0112] η1=[xyz] T ,

[0113] V1=[uvw] T ,V2=[pqr] T (1)

[0114] τ1=[XYZ] T ,τ1=[KMN] T

[0115] Where η describes the position and orientation of the autonomous underwater vehicle relative to the ground coordinate system, and x, y, and z describe the position of the autonomous underwater vehicle relative to the ground coordinate system in the horizontal direction relative to ξ, in the lateral direction relative to η, and in the vertical direction relative to ζ. θ and ψ describe the orientation of the autonomous underwater vehicle relative to the ground coordinate system, is the roll angle, θ is the pitch angle, and ψ is the heading angle. Table 2 is the definition of the attitude angle of the autonomous underwater vehicle.

[0116] Table 2 shows the variable names, fixed coordinate systems, rotary axes, angle ranges, and positive definitions for different attitude angles.

[0117]

[0118] Table 2 Definition of attitude angle of autonomous underwater vehicle

[0119] V describes the translational and rotational speeds of the autonomous underwater vehicle relative to the body coordinate system, u describes the speed of the autonomous underwater vehicle in the horizontal x direction relative to the body coordinate system, v describes the speed of the autonomous underwater vehicle in the lateral y direction relative to the body coordinate system, w describes the speed of the autonomous underwater vehicle in the vertical z direction relative to the body coordinate system, p describes the angular velocity of the autonomous underwater vehicle in the horizontal x direction relative to the body coordinate system, q describes the angular velocity of the autonomous underwater vehicle in the lateral y direction relative to the body coordinate system, and r describes the angular velocity of the autonomous underwater vehicle in the vertical z direction relative to the body coordinate system.

[0120] τ is defined in the body coordinate system and describes the control forces and torques acting on the AUV. X describes the AUV's control force in the horizontal x-direction of the body coordinate system, Y describes the AUV's control force in the horizontal y-direction of the body coordinate system, Z describes the AUV's control force in the vertical x-direction of the body coordinate system, K describes the AUV's control torque in the horizontal x-direction of the body coordinate system, M describes the AUV's control torque in the horizontal y-direction of the body coordinate system, and M describes the AUV's control torque in the vertical z-direction of the body coordinate system.

[0121] Optionally, the translational velocity transformation matrix between the ground coordinate system and the body coordinate system is as shown in formula (2).

[0122]

[0123] Among them, J1(η2) is calculated by formula (3), J1(η2) is a positive definite matrix, then J1(η2) -1 =J1(η2) T .

[0124]

[0125] Optionally, the rotational velocity transformation matrix between the ground coordinate system and the body coordinate system is as shown in formula (4).

[0126]

[0127] Here, J2(η2) is calculated using Equation (5). The pitch angle θ in the definition of J2(η2) cannot be ±90°. In general, autonomous underwater vehicle motion does not typically approach this pitch angle. Of course, alternative kinematics, such as quaternions, can be used to re-model vehicle kinematics in special cases where extreme pitch angles are required.

[0128]

[0129] Alternatively, the kinetic model can be determined according to formula (6).

[0130]

[0131] Among them, ∑X est =-(WB)sinθ++X u|u| u|u|+X wq wq+X qq qq+X vr vr+X rr rr+X c ;

[0132]

[0133] Where W is the gravity of the autonomous underwater vehicle, B is the buoyancy of the autonomous underwater vehicle, Describes the acceleration of the autonomous underwater vehicle in the horizontal x direction relative to the body coordinate system, Describes the motion acceleration of the autonomous underwater vehicle in the lateral y direction relative to the body coordinate system, Describes the motion acceleration of the autonomous underwater vehicle in the vertical z direction relative to the body coordinate system, Describes the angular acceleration of the autonomous underwater vehicle in the horizontal x direction relative to the body coordinate system, Describes the angular acceleration of the autonomous underwater vehicle in the lateral y direction relative to the body coordinate system, Describes the angular acceleration of the autonomous underwater vehicle in the vertical z direction relative to the body coordinate system.

[0134] Step 105: Control the target actuator according to the motion drive signal.

[0135] Optionally, the target execution structure is driven according to the motion drive signal, thereby achieving corresponding driving of the autonomous underwater vehicle.

[0136] In an embodiment of the present application, first, the expected parameters of the control target and the actual parameters of the control target of the autonomous underwater vehicle in the current motion control mode are obtained; that is, the control targets in different motion control modes are different, and the control deviation signals of the expected parameters and the actual parameters are determined; and according to the control deviation signal, the control algorithm of the target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle is adopted, so the obtained control algorithm is also different, and the corresponding target control signals in different motion control modes are determined; according to the target control signal, the motion control model of the target actuator is adopted to determine the motion drive signal of the target actuator; according to different motion drive signals, the corresponding actuator is controlled, so that the target actuator in the drive system is controlled and controlled, thereby improving the accuracy of control of the target actuator of the autonomous underwater vehicle and improving the control efficiency of the target actuator of the autonomous underwater vehicle.

[0137] Based on the above embodiment, the current motion control mode is the first motion control mode, the control target includes: speed, and the target actuator includes: stern main propulsion mechanism; for this purpose, the present application also provides a process for determining the motion control signal in the first autonomous underwater vehicle control method, Figure 3 This is a flow chart of determining a motion control signal in the first autonomous underwater vehicle control method provided in an embodiment of the present application, as shown in FIG. Figure 3 As shown, the control deviation signal of the desired parameter and the actual parameter is determined in the above step 102, including:

[0138] Step 301: Determine a speed deviation signal according to the expected speed parameters and the actual speed parameters.

[0139] The control deviation signal includes the speed deviation signal. The first motion control mode is a thrust-rudder motion control mode.

[0140] Optionally, the actual speed parameters of the autonomous underwater vehicle are obtained according to the status sensors provided on the autonomous underwater vehicle body, and the expected speed parameters are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the speed is determined, thereby determining the speed control deviation coefficient based on the speed control deviation, and thus determining the speed deviation signal, wherein the speed deviation coefficient can be continuously adjusted during the control process to adjust the speed control deviation.

[0141] As in step 103 above, based on the control deviation signal, a control algorithm of a target actuator in the current motion control mode in the driving system of the host underwater vehicle is used to determine a target control signal, including:

[0142] Step 302: According to the speed deviation signal, a control algorithm of the stern main thrust mechanism is used to determine a speed control signal.

[0143] The target control signal includes a speed control signal. The control algorithm for the stern main propulsion mechanism is a proportional-differential-integral controller corresponding to the stern main propulsion mechanism. Inputting the speed deviation signal into the proportional-differential-integral controller corresponding to the stern main propulsion mechanism determines the corresponding speed control signal.

[0144] The motion control model of the target actuator includes: a speed motion control model, such as the motion control model of the target actuator is used according to the target control signal in step 104 to determine the motion drive signal of the target actuator, including:

[0145] Step 303: According to the ship speed control signal, a ship speed motion control model is used to determine the motion drive signal of the main thrust control force of the stern main thrust mechanism.

[0146] Among them, the speed motion control model is X c +X u u=Const, the speed motion control model is obtained by decoupling the horizontal axial force equation in the dynamic model. The horizontal axial force is the position Figure 2 The x-axial force in c is the x-axial thrust, X u is the viscous hydrodynamic variable, and Const is a constant.

[0147] Optionally, the horizontal axial force equation in the dynamic model is obtained by formula (7).

[0148]

[0149] The gravity position changes little during the movement of the autonomous underwater vehicle, so the secondary coupling hydrodynamic coefficient is ignored to obtain the initial speed control model. The relationship between the main thrust control force and the speed can be determined by the initial speed control model. The right side of the initial speed control model includes Let the initial velocity and attitude angle of the autonomous underwater vehicle be zero, that is, When q and θ are zero, the speed motion control model X can be obtained. c +X u u=Cons.

[0150] Optionally, the speed control signal is input into the speed motion control model to determine the motion drive signal of the main thrust control force of the stern main thrust mechanism, thereby controlling the target actuator according to the motion drive signal of the main thrust control force of the stern main thrust mechanism. The target actuator controls the movement of the autonomous underwater vehicle, thereby obtaining the latest speed of the autonomous underwater vehicle, and controlling the target actuator again through the above steps.

[0151] For example, Figure 4 A schematic diagram of determining a control signal when the control target is the speed is provided in an embodiment of the present application, such as Figure 4 As shown, the expected parameters of the speed and the actual parameters of the speed are obtained to determine the speed deviation signal. According to the speed deviation signal, the control algorithm of the stern main propulsion mechanism is adopted to determine the speed control signal. According to the speed control signal, the speed motion control model is adopted to determine the motion drive signal of the main propulsion control force of the stern main propulsion mechanism. The stern main propulsion mechanism is driven by the motion drive signal, thereby realizing the control of the autonomous underwater vehicle.

[0152] In the present embodiment, the actual and desired speed parameters are acquired to generate a speed control signal, and a speed motion control model is used to determine the motion drive signal for the main thrust control force of the stern main thrust mechanism. This ensures that the control target is controlled using the corresponding control model, thereby improving the control efficiency of the autonomous underwater vehicle and ensuring that the actual speed parameters are closer to the desired parameters, thereby achieving more accurate control of the autonomous underwater vehicle.

[0153] On the basis that the current motion control mode is the first motion control mode, the control target further includes: navigation depth, and the target actuator further includes: stern rudder mechanism; for this purpose, the present application also provides a process for determining the motion control signal in the second autonomous underwater vehicle control method, Figure 5 This is a flow chart of determining a motion control signal in the second autonomous underwater vehicle control method provided in an embodiment of the present application, as shown in FIG. Figure 5 As shown, the control deviation signal of the desired parameter and the actual parameter is determined in the above step 102, including:

[0154] Step 501: Determine a depth deviation signal according to expected parameters of navigation depth and actual parameters of navigation depth.

[0155] The control deviation signal includes a depth deviation signal.

[0156] Optionally, the actual parameters of the navigation depth of the autonomous underwater vehicle are obtained according to the status sensors set on the autonomous underwater vehicle body, and the expected parameters of the navigation depth are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the depth is determined, thereby determining the depth deviation signal.

[0157] As in step 103 above, based on the control deviation signal, a control algorithm of a target actuator in the current motion control mode in the driving system of the host underwater vehicle is used to determine a target control signal, including:

[0158] Step 502: Determine a depth control signal using a control algorithm for the stern rudder mechanism according to the depth deviation signal.

[0159] The target control signal includes a depth control signal. The stern rudder mechanism can be an X-shaped rudder, a cross rudder, or other stern rudders. The control algorithm for the stern rudder mechanism is a proportional-differential-integral controller corresponding to the stern rudder mechanism. Inputting the depth deviation signal into the proportional-differential-integral controller corresponding to the stern rudder mechanism determines the corresponding speed control signal.

[0160] The motion control model of the target actuator includes: a deep motion control model, such as the motion control model of the target actuator used in step 104 to determine the motion drive signal of the target actuator according to the target control signal, including:

[0161] Step 503: Determine a motion drive signal for the pitch control force of the stern rudder mechanism using a depth motion control model according to the depth control signal.

[0162] Among them, the deep motion control model is It can be seen that the depth motion control model is affected by the depth of the autonomous underwater vehicle from the ground coordinate system and the pitch angle θ. Through the depth motion control model, the corresponding transfer function pitch angle θ is derived. Formula (8) is the transfer function G1(s) of the pitch angle θ. The horizontal thrust M c As input, with the pitch angle θ as output, the open-loop transfer function G1(s) of the system is calculated based on the Laplace transform.

[0163]

[0164] Alternatively, the pitch angle θ is used as the system input and the depth z of the autonomous underwater vehicle from the ground coordinate system is used as the output. The output transfer function G2(s) can be calculated by formula (9). c Direct control is used, so it is considered that the aircraft control state variable θ is the actual pitch angle value θ of the aircraft.

[0165]

[0166] Optionally, since the depth motion control model is affected by the depth of the autonomous underwater vehicle from the ground coordinate system and the pitch angle θ, the stern rudder mechanism is controlled jointly by the open-loop transfer function G1(s) and the output transfer function G2(s), and the final transfer function is obtained. Among them, e It is the depth control signal.

[0167] Optionally, the specific process of obtaining the depth control model is as follows: first, the z-axis axial force equation and the pitch force matrix equation in the kinematic model and the dynamic model are obtained:

[0168]

[0169]

[0170] Let all irrelevant system state quantities v, p, and r be zero, and pass the preset depth conditions: 1. The x-direction motion speed of the autonomous underwater vehicle is a time-continuous function, so that the vertical speed can be used as a model parameter for depth control; 2. The heading angle ψ changes slowly and continuously in time to avoid mutual interference between coupling terms; 3. The range of the pitch control angle is small, satisfying sinθ≈θ, cosθ≈1; 4. The z-direction speed value of the vehicle is small or negligible relative to other model parameters, that is, the depth control is achieved only by relying on the pitch angle, so w≈0, w · ≈0.

[0171] The conversion equation between the depth command value in the ground coordinate system and the body coordinate system of the autonomous underwater vehicle is shown in formula (10). The conversion equation between the pitch angle change from the ground coordinate system to the body coordinate system is shown in formula (11).

[0172]

[0173] When the preset depth conditions 1 to 3 are met, the influence of the second-order hydrodynamic coefficient is ignored, the z-axis axial force equation and the longitudinal force matrix equation in the dynamic model are decoupled and linearized, and the model state parameter is taken as [wqzθ] to obtain the initial depth control model as shown in Formula (12).

[0174]

[0175] At the same time, the depth preset condition 4 is introduced. Since there is no z-axis control force in the X-rudder control, the Z c =0.

[0176] The depth model can be further simplified as shown in formula (13) to obtain the depth control model.

[0177]

[0178] For example, Figure 6 A schematic diagram of determining a control signal when the control target is depth is provided in an embodiment of the present application, such as Figure 6As shown, the expected depth parameters and the actual depth parameters are obtained to determine a depth deviation signal. Based on the depth deviation signal, a control algorithm of the stern rudder mechanism is adopted to determine a depth control signal. Based on the depth control signal, a depth motion control model is adopted to determine a motion drive signal for the pitch control force of the stern rudder mechanism. The stern rudder mechanism is driven by the motion drive signal to achieve deflection in a direction to eliminate the depth error, thereby realizing steady-state error control in the depth direction.

[0179] In the embodiments of the present application, a depth deviation signal is determined based on the desired navigation depth parameter and the actual navigation depth parameter. Based on the depth deviation signal, a depth control signal is determined using a control algorithm for the stern rudder mechanism. A motion drive signal for the pitch control force of the stern rudder mechanism is then determined using a depth motion control model. This improves the accuracy of depth control for the autonomous underwater vehicle and allows the autonomous underwater vehicle to be controlled according to the desired parameters, ensuring precise operation of the autonomous underwater vehicle.

[0180] On the basis that the current motion control mode is the first motion control mode, the target actuator includes a stern rudder mechanism, and the control target is depth, the present application also provides a process for determining a depth control signal in a control method for an autonomous underwater vehicle. Figure 7 A schematic diagram of a flow chart for determining a depth control signal in a method for controlling an autonomous underwater vehicle provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, in the above step 502, according to the depth deviation signal, the control algorithm of the stern rudder mechanism is used to determine the depth control signal, including:

[0181] Step 701: Generate a depth deviation gain signal according to a depth deviation signal and a preset depth adjustment coefficient.

[0182] The depth deviation coefficient can be continuously adjusted during the control process to adjust the depth control deviation.

[0183] For example, when the depth deviation signal is e z And the preset depth adjustment coefficient is k z , at this time, the depth deviation gain signal can be determined to be k z e z Among them, e y =z d -z is the depth control deviation; z d is the expected parameter of the navigation depth; z is the actual parameter of the navigation depth.

[0184] Step 702: Generate a pitch angle gain signal according to the actual pitch angle of the autonomous underwater vehicle and a preset pitch angle adjustment coefficient.

[0185] Among them, the adjustment coefficient of the pitch angle is used to adjust the response characteristics of the pitch control system and can be continuously adjusted during the control process.

[0186] For example, when the actual pitch angle is θ, the preset pitch angle adjustment coefficient is k θ At this time, the pitch angle gain signal can be determined to be k θ k.

[0187] Step 703: Determine a depth control signal using a control algorithm for the stern rudder mechanism according to the depth deviation gain signal and the pitch angle gain signal.

[0188] For example, when the depth deviation gain signal is k z e z , the pitch angle gain signal is k θ The total gain ζ can be calculated by formula (13) e , so that according to the total gain ζ e The control algorithm of the stern rudder mechanism is used to determine the depth control signal.

[0189] ζ e =k z e z +k θ θ(13)

[0190] For example, Figure 8 Another schematic diagram of determining a control signal when the control target is depth is provided in an embodiment of the present application, such as Figure 8 As shown, the expected depth parameters and the actual depth parameters are obtained to determine the depth deviation signal, and a depth deviation gain signal is generated according to the depth deviation signal and the preset depth adjustment coefficient; a pitch angle gain signal is generated according to the actual pitch angle of the autonomous underwater vehicle and the preset pitch angle adjustment coefficient; a depth control signal is determined according to the depth deviation gain signal and the pitch angle gain signal using the control algorithm of the stern rudder mechanism; the depth control signal is determined according to the control algorithm of the stern rudder mechanism; a depth motion control model is used to determine a motion drive signal of the pitch control force of the stern rudder mechanism according to the depth control signal, and the stern rudder mechanism is driven by the motion drive signal, thereby achieving control of the autonomous underwater vehicle.

[0191] In this embodiment of the present application, a depth deviation gain signal is generated using the AUV's depth deviation signal and a preset depth adjustment coefficient. A pitch angle gain signal is generated using the actual pitch angle and a preset pitch angle adjustment coefficient. Consequently, a depth control signal is determined based on the depth deviation gain signal and the pitch angle gain signal. This approach considers multiple factors when controlling depth, ensuring the accuracy of the AUV's depth control.

[0192] On the basis that the current motion control mode is the first motion control mode and the target actuator also includes a stern rudder mechanism, the control target also includes: a heading angle; for this purpose, the present application also provides a process for determining a motion control signal in a third autonomous underwater vehicle control method, Figure 9 This is a flow chart of determining a motion control signal in the third autonomous underwater vehicle control method provided in an embodiment of the present application, as shown in FIG. Figure 9 As shown, the control deviation signal of the desired parameter and the actual parameter is determined in the above step 102, including:

[0193] Step 901: Determine a heading angle deviation signal according to the expected parameters of the heading angle and the actual parameters of the heading.

[0194] The control deviation signal includes a heading angle deviation signal.

[0195] Optionally, the actual parameters of the heading angle of the autonomous underwater vehicle are obtained according to the status sensor set on the autonomous underwater vehicle body, and the expected parameters of the heading angle are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the heading angle is determined, thereby determining the heading angle control deviation coefficient based on the control deviation of the heading angle, and thus determining the heading angle deviation signal, wherein the heading angle deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the heading angle.

[0196] As in step 103 above, based on the control deviation signal, a control algorithm of a target actuator in the current motion control mode in the driving system of the host underwater vehicle is used to determine a target control signal, including:

[0197] Step 902: Determine a heading angle control signal based on the heading angle deviation signal and using a control algorithm for the stern rudder mechanism.

[0198] The target control signal includes a heading angle control signal. The stern rudder mechanism can be an X-shaped rudder, a cross rudder, or other stern rudders. The control algorithm for the stern rudder mechanism is a proportional-differential-integral controller corresponding to the stern rudder mechanism. Inputting the heading angle deviation signal into the proportional-differential-integral controller corresponding to the stern rudder mechanism determines the corresponding heading angle control signal.

[0199] The motion control model of the target actuator includes: a deep motion control model, such as the motion control model of the target actuator used in step 104 to determine the motion drive signal of the target actuator according to the target control signal, including:

[0200] Step 903: According to the heading angle control signal, a heading angle motion control model is used to determine a motion drive signal for the yaw control force of the stern rudder mechanism.

[0201] Among them, the heading angle motion control model is The yaw control force N c As input, the heading angle ψ is used as input. The Laplace transform of the heading angle motion control model is performed using formula (14) to obtain the transfer function G4(s) of the heading angle motion control model. The motion drive signal of the yaw control force of the stern rudder mechanism is determined based on the transfer function G4(s).

[0202]

[0203] Optionally, the specific process of obtaining the heading angle control model is as follows: first, the x-axis axial force equation and the yaw force matrix equation in the kinematic model and the dynamic model are obtained:

[0204]

[0205] Let all irrelevant state variables w, p, q be zero to simplify the horizontal motion control of the autonomous underwater vehicle. Assume that the range of the heading angle control angle change is small, satisfying sinψ≈ψ, cosψ≈1. According to the conversion equation of the heading angle from the ground coordinate system to the body coordinate system in the kinematic equation of the autonomous underwater vehicle, it is assumed that the changes of the roll angle and the pitch angle are controlled within a small range, and we can get

[0206]

[0207] The linear control model is used, and the influence of the second-order hydrodynamic coefficient is ignored. It is assumed that the deviation of the y-direction distance between the center of gravity and the center of buoyancy is small and can be ignored. g =0, thus obtaining the initial heading angle control model, as shown in formula (15).

[0208]

[0209] Assume that the lateral velocity in the y direction is small and can be ignored (v≈0), and the rudder control does not provide y-direction control force, that is, Y c =0, further simplify and obtain the heading angle control model.

[0210]

[0211] For example, Figure 10 A schematic diagram of determining a control signal when the control target is a heading angle is provided in an embodiment of the present application, such as Figure 10As shown, the desired parameters of the heading angle and the actual parameters of the heading angle are obtained to determine a heading angle deviation signal. Based on the heading angle deviation signal, a control algorithm of the stern rudder mechanism is adopted to determine a heading angle control signal. Based on the heading angle control signal, a heading angle motion control model is adopted to determine a motion drive signal of the yaw control force of the stern rudder mechanism. The stern rudder mechanism is driven by the motion drive signal, thereby achieving control of the autonomous underwater vehicle.

[0212] In the embodiment of the present application, the actual and desired parameters of the heading angle are acquired to generate a heading angle control signal. A heading angle motion control model is then used to determine the motion drive signal for the main yaw control force of the stern rudder mechanism. This ensures that the control target is controlled using the corresponding control model, improving the control efficiency of the autonomous underwater vehicle and ensuring that the actual and desired parameters of the heading angle are closer, thereby increasing the control accuracy of the autonomous underwater vehicle.

[0213] Based on the above embodiment, the current motion control mode is the second motion control mode, the control targets include: roll and heading angle, and the target actuators include: bow lateral thrusters and stern lateral thrusters; therefore, the present application provides a fourth process for determining a control signal in a method for controlling an autonomous underwater vehicle. Figure 11 This is a flow chart of determining a control signal in the fourth autonomous underwater vehicle control method provided in an embodiment of the present application, as shown in FIG. Figure 11 As shown, the control deviation signal of the desired parameter and the actual parameter is determined in the above step 102, including:

[0214] Step 1101: Determine a roll deviation signal according to the desired roll parameter and the actual roll parameter.

[0215] The second motion control mode is the lateral thrust and vertical thrust control mode. Roll is the lateral offset distance of the center of buoyancy of the autonomous watercraft in the moving coordinate system. Figure 2 It can be seen that the horizontal direction in the moving coordinate system is the y direction in the moving coordinate system.

[0216] Optionally, the actual roll parameters of the autonomous underwater vehicle are obtained according to the state sensor provided on the autonomous underwater vehicle body, and the expected roll parameters are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the roll is determined. Based on the control deviation of the roll, a roll deviation signal is determined, wherein the roll deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the roll.

[0217] Step 1102: Determine a heading angle deviation signal according to the expected parameters of the heading angle and the actual parameters of the heading angle.

[0218] The heading angle refers to the angle between the forward direction and the vertical direction in the moving coordinate system of the autonomous underwater vehicle during navigation. Figure 2 It can be seen that the vertical direction in the moving coordinate system is the z direction in the moving coordinate system.

[0219] Optionally, the actual parameters of the heading angle of the autonomous underwater vehicle are obtained according to the status sensors provided on the autonomous underwater vehicle body, and the expected parameters of the heading angle are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the heading angle is determined. Based on the control deviation of the heading angle, a heading angle deviation signal is determined, wherein the heading angle deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the heading angle.

[0220] The control deviation signal includes: a heading angle deviation signal and a roll deviation signal;

[0221] As in step 103 above, based on the control deviation signal, a control algorithm of a target actuator in the current motion control mode of the drive system of the autonomous underwater vehicle is used to determine a target control signal, including:

[0222] Step 1103: Determine a thrust control signal using a thrust control algorithm based on the heading angle deviation signal and the roll deviation signal.

[0223] The target control signal includes a thruster control signal. The thruster control algorithm uses a proportional-derivative-integral controller (PDIC) corresponding to the thruster control mechanism. The corresponding thruster control signal is determined by inputting the heading deviation signal and the roll deviation signal into the PDIC corresponding to the thruster control mechanism.

[0224] The motion control model of the target actuator includes: a first lateral motion control model of the bow lateral thruster, and a second lateral motion control model of the stern lateral thruster. As in step 104 above, the motion control model of the target actuator is used to determine the motion drive signal of the target actuator based on the target control signal, including:

[0225] Step 1104: Determine a first motion drive signal for the bow lateral thruster and a second motion drive signal for the stern lateral thruster based on the thrust control signal using the first lateral motion control model and the second lateral motion control model.

[0226] Among them, the first lateral motion control model is the bow thrust control model, and the second thrust control model is the stern thrust control model. The thrust control model is composed of the first lateral motion control model and the second thrust control model. The thrust control model is a multi-input and multi-output control model. Y cThe lateral control force in the moving coordinate system, that is, the y-direction control force, N c is the yaw control torque in the moving coordinate system, F1, F2 are the driving forces generated by the bow and stern thrusters, L1, L2 are the horizontal axial distances between the bow and stern and the buoyancy center of the autonomous underwater vehicle, that is, the distance from the x-axis. c and N c Substitute them into the thrust control model to determine formula (16):

[0227]

[0228] make A ψ is an intermediate parameter. Formula (17) can be obtained, thereby calculating the first motion drive signal and the second motion drive signal of the bow lateral thruster.

[0229]

[0230] Optionally, the specific acquisition process of the thrust control model is as follows: first, the x-axis axial force equation and the yaw force matrix equation in the kinematic model and the dynamic model are obtained:

[0231]

[0232] Let all irrelevant state variables w, p, q be zero to simplify the horizontal motion control of the autonomous underwater vehicle. Assume that the range of the heading angle control angle change is small, satisfying sinψ≈ψ, cosψ≈1. According to the conversion equation of the heading angle from the ground coordinate system to the body coordinate system in the kinematic equation of the autonomous underwater vehicle, it is assumed that the changes of the roll angle and the pitch angle are controlled within a small range, and we can get

[0233] The linear control model is used, and the influence of the second-order hydrodynamic coefficient is ignored. It is assumed that the deviation of the y-direction distance between the center of gravity and the center of buoyancy is small and can be ignored. g =0, thus obtaining the initial thrust control model, as shown in formula (18).

[0234]

[0235] Let F1 and F2 be the driving forces generated by the bow and stern thrusters, L1 and L2 be the horizontal axial distances between the bow and stern and the buoyancy center of the autonomous underwater vehicle, and calculate the control force Y of the autonomous underwater vehicle. c and control torque N c , let the x-axis velocity of the thrust control model be small and negligible, that is, u = 0. The thrust control model is obtained:

[0236]

[0237] For example, Figure 12 A schematic diagram of determining a control signal when the control target is the rolling heading angle is provided in an embodiment of the present application, such as Figure 12 As shown, the desired parameters of the roll and heading angles and the actual parameters of the heading angle are obtained respectively, so as to determine the control deviation signal. According to the control deviation signal, a thrust control algorithm is adopted to determine the thrust control signal. According to the thrust control signal, a first lateral motion control model and a second lateral motion control model are adopted to determine the first motion drive signal and the second motion drive signal. The bow lateral thruster and the bow lateral thruster are driven by the first motion drive signal and the second motion drive signal, so as to realize the control of the autonomous underwater vehicle.

[0238] In this embodiment, actual and desired roll and heading angle parameters are acquired to generate a control deviation signal, and a thruster control algorithm is employed to determine motion drive signals for the bow and stern thrusters. This improves the control efficiency of the AUV. Controlling target parameters using a corresponding motion model ensures that the actual roll and heading angle parameters are closer to the desired parameters, thereby increasing the control accuracy of the AUV.

[0239] Based on the above embodiments, the present application also provides a process for determining a thrust control signal in a control method for an autonomous underwater vehicle. Figure 13 A flow chart of determining a thrust control signal in a control method for an autonomous underwater vehicle provided in an embodiment of the present application is shown in FIG. Figure 13 As shown, in the above step 1103, according to the heading angle deviation signal and the roll deviation signal, a thrust control algorithm is used to determine the thrust control signal, including:

[0240] Step 1301: Generate a heading angle deviation gain signal according to a heading angle deviation signal and a preset heading angle adjustment coefficient.

[0241] The heading angle deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the heading angle.

[0242] For example, when the heading angle deviation signal is e ψ And the preset heading angle adjustment coefficient k ψ At this time, the heading angle deviation gain signal can be determined to be k ψ e ψ Among them, e ψ =ψ d -ψ is the depth control deviation; ψ d is the desired parameter of the heading angle; ψ is the actual parameter of the heading angle.

[0243] Step 1302: Generate a roll deviation gain signal according to the roll deviation signal and a preset roll adjustment coefficient.

[0244] The roll deviation coefficient can be continuously adjusted during the control process to regulate the roll control deviation.

[0245] For example, when the roll deviation signal is e y And the preset roll adjustment coefficient k y At this time, the roll deviation gain signal can be determined to be k y e y Among them, e y =y d -y is the roll control deviation; y d is the expected roll parameter; y is the actual roll parameter.

[0246] Step 1303: Determine a thrust control signal using a thrust control algorithm according to the heading angle deviation gain signal and the roll deviation gain signal.

[0247] For example, when the heading angle deviation gain signal is k ψ e ψ , the roll deviation gain signal is k y e y The total gain ξ can be calculated by formula (19): e , thus according to the total gain ξ e The thrust control algorithm is adopted to determine the thrust control signal.

[0248] ξ e =k ψ e ψ +k y e y (19)

[0249] In this embodiment of the present application, a heading deviation gain signal is generated using the AUV's heading deviation signal and a preset heading adjustment coefficient. A roll deviation gain signal is generated using the AUV's roll deviation signal and a preset roll adjustment coefficient. Based on the heading deviation gain and roll deviation gain signals, a thruster control algorithm is employed to determine a thruster control signal. This considers multiple factors during thruster control, ensuring accurate depth control of the AUV.

[0250] Based on the above embodiment, the current motion control mode is the second motion control mode, the control targets further include: navigation depth and pitch angle, and the target actuators further include: bow vertical thrusters and stern vertical thrusters; therefore, the present application provides a fourth process for determining a control signal in a method for controlling an autonomous underwater vehicle. Figure 14 This is a flow chart of determining a control signal in the fifth autonomous underwater vehicle control method provided in an embodiment of the present application, as shown in FIG. Figure 14As shown, the control deviation signal of the desired parameter and the actual parameter is determined in the above step 102, including:

[0251] Step 1401: Determine a depth deviation signal according to expected parameters of navigation depth and actual parameters of navigation depth.

[0252] Optionally, the actual depth parameters of the autonomous underwater vehicle are obtained according to the status sensor set on the autonomous underwater vehicle body, and the expected depth parameters are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the depth is determined. Based on the control deviation of the depth, a depth deviation signal is determined, wherein the depth deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the depth.

[0253] Step 1402: Determine a pitch angle deviation signal according to the expected parameters of the pitch angle and the actual parameters of the pitch angle.

[0254] The control deviation signal includes a depth deviation signal and a pitch angle deviation signal.

[0255] Optionally, the actual pitch angle parameters of the autonomous underwater vehicle are obtained according to the status sensors provided on the autonomous underwater vehicle body, and the expected parameters of the pitch angle are determined according to factors such as mission planning, environmental perception, and navigation system, and the control deviation of the pitch angle is determined. Based on the control deviation of the pitch angle, a pitch angle deviation signal is determined, wherein the pitch angle deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the pitch angle.

[0256] As in step 103 above, based on the control deviation signal, a control algorithm of a target actuator in the current motion control mode of the drive system of the autonomous underwater vehicle is used to determine a target control signal, including:

[0257] Step 1403: Determine a thrust control signal using a thrust control algorithm according to the depth deviation signal and the pitch angle deviation signal.

[0258] The target control signal includes a thrust control signal. The thrust control algorithm uses a proportional-differential-integral controller (PDIC) corresponding to the thrust control mechanism. The depth deviation signal and pitch angle deviation signal are input into the PDIC corresponding to the thrust control mechanism to determine the corresponding thrust control signal.

[0259] The motion control model of the target actuator includes: a first vertical motion control model of the bow vertical thruster, and a second vertical motion control model of the stern vertical thruster. As in step 104 above, the motion control model of the target actuator is used to determine the motion drive signal of the target actuator based on the target control signal, including:

[0260] Step 1404: Determine a first motion drive signal for the bow vertical thruster and a second motion drive signal for the stern vertical thruster based on the vertical thrust control signal using the first vertical motion control model and the second vertical motion control model.

[0261] Among them, the first lateral motion control model is the bow thrust control model, and the second thrust control model is the stern thrust control model. The thrust control model is composed of the first lateral motion control model and the second thrust control model. The thrust control model is a multi-input and multi-output control model. Among them, Z c The vertical control force in the moving coordinate system, that is, the z-direction control force, M c is the longitudinal control torque in the dynamic coordinate system, F3, F4 are the driving forces generated by the bow and stern vertical thrust, L3, L4 are the horizontal axial distances between the bow and stern and the buoyancy center of the autonomous underwater vehicle, that is, the distance from the x-axis. c and M c Substituting them into the vertical thrust control model respectively can determine formula (20).

[0262]

[0263] make A θ is an intermediate parameter. Formula (21) can be obtained, thereby calculating the first motion drive signal and the second motion drive signal of the bow vertical thruster.

[0264]

[0265] Optionally, the specific process of obtaining the vertical control model is as follows: first, the z-axis axial force equation and the pitch force matrix equation in the kinematic model and the dynamic model are obtained:

[0266]

[0267] Let all irrelevant system state quantities v, p, and r be zero, and pass the preset depth conditions: 1. The x-direction motion speed of the autonomous underwater vehicle is a time-continuous function, so that the vertical speed can be used as a model parameter for depth control; 2. The heading angle ψ changes slowly and continuously in time to avoid mutual interference between coupling terms; 3. The range of the pitch control angle is small, satisfying sinθ≈θ, cosθ≈1; 4. The z-direction speed value of the vehicle is small or negligible relative to other model parameters, that is, the depth control is achieved only by relying on the pitch angle, so w≈0, w · ≈0.

[0268] The conversion equation between the depth command value in the ground coordinate system and the body coordinate system of the autonomous underwater vehicle is as follows. The conversion equation between the pitch angle change from the ground coordinate system to the body coordinate system is as follows.

[0269]

[0270] When the preset depth conditions 1 to 3 are met, the influence of the second-order hydrodynamic coefficient is ignored, the z-axis axial force equation and the pitch force matrix equation in the dynamic model are decoupled and linearized, and the model state parameter is taken as [wqz θ] to obtain the initial vertical thrust control model as shown in Formula (22).

[0271]

[0272] Let F3 and F4 be the driving forces generated by the bow and stern vertical thrust, L3 and L4 be the horizontal axial distances between the bow and stern and the buoyancy center of the autonomous underwater vehicle, and the vertical thrust control model is obtained:

[0273] For example, Figure 15 A schematic diagram of determining a control signal when the control target is a depth pitch angle is provided in an embodiment of the present application, such as Figure 15 As shown, the desired parameters of the depth and pitch angle and the actual parameters of the pitch angle are obtained respectively, so as to determine the control deviation signal. According to the control deviation signal, a vertical thrust control algorithm is adopted to determine the vertical thrust control signal. According to the vertical thrust control signal, a first vertical motion control model and a second vertical motion control model are adopted to determine the first motion drive signal and the second motion drive signal. The bow vertical thruster and the bow vertical thruster are driven by the first motion drive signal and the second motion drive signal, so as to realize the control of the autonomous underwater vehicle.

[0274] In this embodiment of the present application, actual and desired depth and pitch angle parameters are acquired to generate a control deviation signal, and a thrust control algorithm is employed to determine motion drive signals for the bow and stern vertical thrusters. This control system simultaneously controls the bow and stern lateral thrusters of the autonomous underwater vehicle and also controls the bow and stern vertical thrusters, ensuring comprehensive control of the autonomous underwater vehicle and improving control accuracy.

[0275] Based on the above embodiments, the present application also provides a process for determining a thrust control signal in a control method for an autonomous underwater vehicle. Figure 16 This is a flow chart of determining a vertical thrust control signal in a control method for an autonomous underwater vehicle provided in an embodiment of the present application, such as Figure 16As shown, in step 1403 above, a thrust control algorithm is used to determine a thrust control signal based on the heading angle deviation signal and the roll deviation signal, including:

[0276] Step 1601: Generate a depth deviation gain signal according to a depth deviation signal and a preset depth adjustment coefficient.

[0277] The depth deviation coefficient can be continuously adjusted during the control process to adjust the depth control deviation.

[0278] For example, when the depth deviation signal is e z And the preset depth adjustment coefficient is k z , at this time, the depth deviation gain signal can be determined to be k z e z Among them, e y =z d -z is the depth control deviation; z d is the expected parameter of the navigation depth; z is the actual parameter of the navigation depth.

[0279] Step 1602: Generate a pitch angle deviation gain signal according to the pitch angle deviation signal and a preset pitch angle adjustment coefficient.

[0280] Among them, the pitch angle deviation coefficient can be continuously adjusted during the control process to adjust the control deviation of the pitch angle.

[0281] For example, when the pitch angle deviation signal is e θ And the preset roll adjustment coefficient k θ At this time, the pitch angle deviation gain signal can be determined to be k θ e θ Among them, e θ =y λ -θ is the pitch angle control deviation; y θ is the desired parameter of the pitch angle; θ is the actual parameter of the pitch angle.

[0282] Step 1603: Determine a thrust control signal using a thrust control algorithm according to the depth deviation gain signal and the pitch angle deviation gain signal.

[0283] For example, when the depth deviation gain signal is k z e z , the pitch angle deviation gain signal is k θ e θ The total gain δ can be calculated by formula (23) e , thus according to the total gain ξ e The thrust control algorithm is adopted to determine the thrust control signal.

[0284] δ e=k ψ e ψ +k y e y (twenty three)

[0285] In this embodiment of the present application, a depth deviation gain signal is generated using the AUV's depth deviation signal and a preset depth adjustment coefficient. A pitch angle deviation gain signal is generated using the AUV's pitch angle deviation signal and a preset pitch angle adjustment coefficient. Based on the depth deviation gain signal and the pitch angle deviation gain signal, a thrust control algorithm is employed to determine a thrust control signal. This consideration of multiple factors in thrust control improves the accuracy of the AUV's depth control.

[0286] Based on the same inventive concept, the embodiment of the present application also provides an autonomous underwater vehicle motion control system corresponding to the autonomous underwater vehicle motion control method. Figure 17 A schematic diagram of the structure of an autonomous underwater vehicle control system provided in an embodiment of the present application is shown in FIG. Figure 17 As shown, the control system includes: a controller 1701, a state sensor 1702 and a drive system 1703. The controller 1701, the state sensor 1702 and the drive system 1703 are all arranged on the body of the autonomous underwater vehicle 1700. The controller 1701 is connected to the drive system 1703. The controller 1701 is connected to the state sensor 1702. The controller 1701 is used to execute any autonomous underwater vehicle motion control method.

[0287] Among them, the state sensor 1702 can be a sensor such as an attitude sensor, a depth sensor, a speed sensor, etc., and the embodiments of the present application do not limit this. The attitude sensor can be a gyroscope or an accelerometer. The drive system 1703 includes multiple actuators, such as a stern main propulsion mechanism, a stern tail rudder mechanism, a bow lateral thruster mechanism, a stern lateral thruster mechanism, a bow vertical thruster mechanism, a stern vertical thruster mechanism, etc. The speed, depth, heading angle, yaw angle and other related factors of the autonomous underwater vehicle can be controlled by different actuators, and the embodiments of the present application do not limit this.

[0288] Based on the same inventive concept, an autonomous underwater vehicle motion control device corresponding to the autonomous underwater vehicle motion control method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned autonomous underwater vehicle motion control method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0289] Figure 18 A schematic diagram of the structure of a motion control device for an autonomous underwater vehicle provided in an embodiment of the present application is shown in FIG. Figure 18As shown, the apparatus includes: an acquisition module 1801 for acquiring expected parameters of a control target and actual parameters of the control target of the autonomous underwater vehicle in the current motion control mode;

[0290] A first determination module 1802 is configured to determine a control deviation signal of an expected parameter and an actual parameter;

[0291] A second determination module 1803 is configured to determine a target control signal based on the control deviation signal and using a control algorithm of a target actuator in a current motion control mode in a drive system of the autonomous underwater vehicle;

[0292] The third determining module 1804 is configured to determine a motion driving signal of the target actuator using a motion control model of the target actuator according to the target control signal;

[0293] The control module 1805 is used to control the target actuator according to the motion drive signal.

[0294] In one possible implementation, the current motion control mode is the first motion control mode, the control target includes: speed, the target actuator includes: stern main propulsion mechanism; the first determination module 1802 is specifically used to: determine the speed deviation signal based on the expected speed parameters and the actual speed parameters, and the control deviation signal includes: speed deviation signal.

[0295] In a possible implementation, the second determination module 1803 is specifically configured to determine a speed control signal based on the speed deviation signal and using a control algorithm of the stern main propulsion mechanism, wherein the target control signal includes a speed control signal.

[0296] In one possible implementation, the motion control model of the target actuator includes: a speed motion control model, and a third determination module 1804, which is specifically used to: determine the motion drive signal of the main thrust control force of the stern main thrust mechanism based on the speed control signal using the speed motion control model.

[0297] In one possible implementation, the control target further includes: navigation depth, and the target execution mechanism further includes: a stern rudder mechanism; the first determination module 1802 is specifically used to: determine the depth deviation signal based on the expected parameters of the navigation depth and the actual parameters of the navigation depth, and the control deviation signal includes: a depth deviation signal.

[0298] In a possible implementation, the second determining module 1803 is specifically configured to determine a depth control signal based on the depth deviation signal and using a control algorithm of the stern rudder mechanism, wherein the target control signal includes a depth control signal.

[0299] In one possible implementation, the motion control model of the target actuator includes: a speed motion control model; and a third determination module 1804 , specifically configured to determine a motion drive signal for the pitch control force of the stern rudder mechanism using the depth motion control model according to the depth control signal.

[0300] In a possible implementation, the second determining module 1803 is specifically configured to: generate a depth deviation gain signal according to the depth deviation signal and a preset depth adjustment coefficient;

[0301] generating a pitch angle gain signal according to an actual pitch angle of the autonomous underwater vehicle and a preset pitch angle adjustment coefficient;

[0302] According to the depth deviation gain signal and the pitch angle gain signal, the control algorithm of the stern rudder mechanism is adopted to determine the depth control signal.

[0303] In a possible implementation, the control target further includes: a heading angle; a first determination module 1802 is specifically configured to determine a heading angle deviation signal based on expected parameters of the heading angle and actual parameters of the heading, wherein the control deviation signal includes: a heading angle deviation signal.

[0304] In a possible implementation, the second determination module 1803 is specifically configured to determine a heading angle control signal based on the heading angle deviation signal and using a control algorithm of the stern rudder mechanism, wherein the target control signal includes a heading angle control signal.

[0305] In one possible implementation, the motion control model of the target actuator includes: a heading angle motion control model, and a third determination module 1804, which is specifically used to: determine the motion drive signal of the yaw control force of the stern rudder mechanism based on the heading angle control signal using the heading angle motion control model.

[0306] In one possible implementation, the current motion control mode is the second motion control mode, the control targets include roll and heading angles, and the target actuators include bow lateral thrusters and stern lateral thrusters. The first determination module 1802 is specifically configured to determine a roll deviation signal based on a desired roll parameter and an actual roll parameter.

[0307] The heading angle deviation signal is determined according to the expected parameters of the heading angle and the actual parameters of the heading angle. The control deviation signal includes: a heading angle deviation signal and a roll deviation signal.

[0308] In a possible implementation, the second determining module 1803 is specifically configured to determine a thrust control signal using a thrust control algorithm according to the heading angle deviation signal and the roll deviation signal, wherein the target control signal includes the thrust control signal.

[0309] In one possible implementation, the motion control model of the target actuator includes: a first lateral motion control model of the bow lateral thruster, and a second lateral motion control model of the stern lateral thruster. The third determination module 1804 is specifically used to: determine the first motion drive signal of the bow lateral thruster and the second motion drive signal of the stern lateral thruster based on the thrust control signal, using the first lateral motion control model and the second lateral motion control model.

[0310] In a possible implementation, the second determining module 1803 is specifically configured to: generate a heading angle deviation gain signal according to the heading angle deviation signal and a preset heading angle adjustment coefficient;

[0311] generating a roll deviation gain signal according to the roll deviation signal and a preset roll adjustment coefficient;

[0312] According to the heading angle deviation gain signal and the roll deviation gain signal, a thrust control algorithm is adopted to determine the thrust control signal.

[0313] In one possible implementation, the control target further includes: navigation depth and pitch angle, and the target actuator includes: a bow vertical thruster and a stern vertical thruster; the first determination module 1802 is specifically configured to: determine a depth deviation signal based on a desired navigation depth parameter and an actual navigation depth parameter;

[0314] A pitch angle deviation signal is determined according to the expected parameters of the pitch angle and the actual parameters of the pitch angle; the control deviation signal includes: a depth deviation signal and a pitch angle deviation signal.

[0315] In a possible implementation, the second determining module 1803 is specifically configured to determine a thrust control signal using a thrust control algorithm according to the depth deviation signal and the pitch angle deviation signal, where the target control signal includes the thrust control signal.

[0316] In one possible implementation, the motion control model of the target actuator includes: a first vertical motion control model of the bow vertical thruster, and a second vertical motion control model of the stern vertical thruster. The third determination module 1804 is specifically used to: determine the first motion drive signal of the bow vertical thruster and the second motion drive signal of the stern vertical thruster based on the vertical thrust control signal using the first vertical motion control model and the second vertical motion control model.

[0317] In a possible implementation, the second determining module 1803 is specifically configured to: generate a depth deviation gain signal according to the depth deviation signal and a preset depth adjustment coefficient;

[0318] generating a pitch angle deviation gain signal according to the pitch angle deviation signal and a preset pitch angle adjustment coefficient;

[0319] A thrust control algorithm is adopted to determine a thrust control signal according to the depth deviation gain signal and the pitch angle deviation gain signal.

[0320] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference can be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0321] The embodiment of the present application also provides a computer device, Figure 19 A schematic diagram of a computer device structure provided in an embodiment of the present application is shown in FIG. Figure 19 As shown, the computer device includes: a processor 1901, a memory 1902, and optionally, a bus 1903. The memory 1902 stores machine-readable instructions executable by the processor 1901. When the computer device is running, the processor 1901 communicates with the memory 1902 via the bus 1903. When the machine-readable instructions are executed by the processor 1901, the steps of the above-mentioned autonomous underwater vehicle control method are performed.

[0322] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned autonomous underwater vehicle control method are executed.

[0323] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0324] In addition, the functional units in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0325] The above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the protection scope of the present application.

Claims

1. A motion control method for an autonomous underwater vehicle, characterized in that: The controller used in the autonomous underwater vehicle comprises: Obtaining expected parameters of a control target of the autonomous underwater vehicle in a current motion control mode and actual parameters of the control target; Determining a control deviation signal of the expected parameter and the actual parameter; determining a target control signal using a control algorithm of a target actuator of the current motion control mode in a drive system of the autonomous underwater vehicle according to the control deviation signal; Determining a motion drive signal for the target actuator using a motion control model of the target actuator according to the target control signal; The target actuator is controlled according to the motion drive signal.

2. The autonomous underwater vehicle motion control method according to claim 1, characterized in that: The current motion control mode is the first motion control mode, the control target includes: ship speed, and the target execution mechanism includes: the stern main propulsion mechanism; The determining of the control deviation signal of the expected parameter and the actual parameter includes: Determining a speed deviation signal according to the expected speed parameter and the actual speed parameter, wherein the control deviation signal includes: the speed deviation signal; Determining the target control signal by using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle according to the control deviation signal includes: According to the speed deviation signal, a speed control signal is determined by adopting a control algorithm of the stern main thrust mechanism, wherein the target control signal includes: the speed control signal; The motion control model of the target actuator includes: a speed motion control model; and determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes: According to the speed control signal, the speed motion control model is adopted to determine the motion drive signal of the main thrust control force of the stern main thrust mechanism.

3. The autonomous underwater vehicle motion control method according to claim 2, characterized in that: The control target also includes: navigation depth, and the target execution mechanism also includes: stern rudder mechanism; The determining of the control deviation signal of the expected parameter and the actual parameter includes: determining a depth deviation signal according to the desired parameter of the navigation depth and the actual parameter of the navigation depth, wherein the control deviation signal comprises: the depth deviation signal; Determining the target control signal by using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle according to the control deviation signal includes: According to the depth deviation signal, a depth control signal is determined using a control algorithm of the stern rudder mechanism, wherein the target control signal includes: the depth control signal; The motion control model of the target actuator includes: a deep motion control model, and determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes: According to the depth control signal, the depth motion control model is adopted to determine a motion drive signal of the pitch control force of the stern rudder mechanism.

4. The autonomous underwater vehicle motion control method according to claim 3, characterized in that: The method of determining a depth control signal by using a control algorithm of the stern rudder mechanism according to the depth deviation signal includes: generating a depth deviation gain signal according to the depth deviation signal and a preset depth adjustment coefficient; generating a pitch angle gain signal according to an actual pitch angle of the autonomous underwater vehicle and a preset pitch angle adjustment coefficient; The depth control signal is determined according to the depth deviation gain signal and the pitch angle gain signal and using a control algorithm of the stern rudder mechanism.

5. The autonomous underwater vehicle motion control method according to claim 3, characterized in that: The control target also includes: heading angle; The determining of the control deviation signal of the expected parameter and the actual parameter includes: Determining a heading angle deviation signal according to the desired parameters of the heading angle and the actual parameters of the heading, the control deviation signal comprising: the heading angle deviation signal; Determining the target control signal based on the control deviation signal and using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle includes: According to the heading angle deviation signal, a heading angle control signal is determined by using a control algorithm of the stern rudder mechanism, wherein the target control signal includes: the heading angle control signal; The motion control model of the target actuator includes a heading angle motion control model. The motion control model of the target actuator is used to determine the motion drive signal of the target actuator according to the target control signal, including: According to the heading angle control signal, the heading angle motion control model is adopted to determine a motion drive signal of the yaw control force of the stern rudder mechanism.

6. The autonomous underwater vehicle motion control method according to claim 1, characterized in that: The current motion control mode is the second motion control mode, the control targets include: roll and heading angles, and the target actuators include: bow lateral thrusters and stern lateral thrusters; The determining of the control deviation signal of the expected parameter and the actual parameter includes: determining a roll deviation signal according to the desired roll parameter and the actual roll parameter; Determining a heading angle deviation signal according to the desired parameters of the heading angle and the actual parameters of the heading angle; the control deviation signal includes: the heading angle deviation signal and the roll deviation signal; Determining the target control signal based on the control deviation signal and using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle includes: Determining a thrust control signal using a thrust control algorithm according to the heading angle deviation signal and the roll deviation signal, wherein the target control signal includes: the thrust control signal; The motion control model of the target actuator includes: a first lateral motion control model of the bow lateral thruster, and a second lateral motion control model of the stern lateral thruster. Determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes: According to the thrust control signal, the first lateral motion control model and the second lateral motion control model are used to determine a first motion drive signal of the bow lateral thruster and a second motion drive signal of the stern lateral thruster.

7. The autonomous underwater vehicle motion control method according to claim 6, characterized in that: Determining the thrust control signal by using a thrust control algorithm according to the heading angle deviation signal and the roll deviation signal includes: generating a heading angle deviation gain signal according to the heading angle deviation signal and a preset heading angle adjustment coefficient; generating a roll deviation gain signal according to the roll deviation signal and a preset roll adjustment coefficient; A thrust control algorithm is adopted according to the heading angle deviation gain signal and the roll deviation gain signal to determine a thrust control signal.

8. The method for controlling motion of an autonomous underwater vehicle according to claim 6, wherein: The control targets also include: navigation depth and pitch angle, and the target execution mechanism includes: bow vertical thruster and stern vertical thruster; The determining of the control deviation signal of the expected parameter and the actual parameter includes: determining a depth deviation signal according to an expected parameter of the navigation depth and an actual parameter of the navigation depth; Determining a pitch angle deviation signal according to the desired parameters of the pitch angle and the actual parameters of the pitch angle; the control deviation signal includes: the depth deviation signal and the pitch angle deviation signal; Determining the target control signal based on the control deviation signal and using a control algorithm of a target actuator of the current motion control mode in the drive system of the autonomous underwater vehicle includes: Determining a thrust control signal using a thrust control algorithm according to the depth deviation signal and the pitch angle deviation signal, wherein the target control signal includes: the thrust control signal; The motion control model of the target actuator includes: a first vertical motion control model of the bow vertical thruster, and a second vertical motion control model of the stern vertical thruster. Determining the motion drive signal of the target actuator using the motion control model of the target actuator according to the target control signal includes: According to the vertical thrust control signal, the first vertical motion control model and the second vertical motion control model are used to determine a first motion drive signal for the bow vertical thruster and a second motion drive signal for the stern vertical thruster.

9. The autonomous underwater vehicle motion control method according to claim 8, characterized in that: Determining a thrust control signal by using a thrust control algorithm according to the depth deviation signal and the pitch angle deviation signal includes: generating a depth deviation gain signal according to the depth deviation signal and a preset depth adjustment coefficient; generating a pitch angle deviation gain signal according to the pitch angle deviation signal and a preset pitch angle adjustment coefficient; The thrust control algorithm is used to determine a thrust control signal according to the depth deviation gain signal and the pitch angle deviation gain signal.

10. An autonomous underwater vehicle motion control system, characterized in that: The control system includes: a controller, a state sensor and a drive system, the controller, the state sensor and the drive system are all arranged on the body of the autonomous underwater vehicle, the controller is connected to the drive system, the controller is connected to the state sensor, and the controller is used to execute the motion control method of the autonomous underwater vehicle described in any one of claims 1 to 9 above.

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