Submersible low-speed navigation control method and device, electronic equipment and storage medium

Abstract

The invention provides a submersible low-speed navigation control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring current state information and target track information of a submersible; generating a first control instruction for driving a main execution mechanism of the submersible based on the current state information and the target track information; and under the condition that the first control instruction exceeds a preset execution capability threshold value of the main execution mechanism, generating a second control instruction for driving an auxiliary execution mechanism of the submersible based on the first control instruction so as to compensate the control capability of the main execution mechanism. According to the submersible low-speed navigation control method and device, the electronic equipment and the storage medium provided by the invention, the control capability and navigation precision of the submersible during low-speed navigation can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submersible control, and in particular to a submersible low-speed navigation control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] When performing underwater detection and operation tasks, large submersibles often need to navigate autonomously at low speed or micro speed. Existing control systems usually rely on traditional actuators such as rudders for navigation control.

[0003] However, when navigating at low speed, especially in a flow environment, the submersible speed is close to the flow speed, which easily causes a large side drift angle, and the steering efficiency of the rudder will decrease significantly, making it difficult for traditional navigation guidance methods to achieve high-precision navigation control. In addition, the steering rate of the large submersible itself and the water displacement rate of the ballast system are physically limited, and the control response is slow. When a large-scale turning or depth change is required, relying solely on traditional rudders may result in saturation of their control ability, and even cause the risk of loss of control. Therefore, how to solve the problem of insufficient control ability and low navigation tracking accuracy of large submersibles in low-speed flow conditions is a technical problem that needs to be solved in the field. SUMMARY

[0004] The present application provides a submersible low-speed navigation control method, device, electronic equipment and storage medium to solve the problem of insufficient control ability and low navigation tracking accuracy of large submersibles in low-speed flow conditions in the prior art.

[0005] The present application provides a submersible low-speed navigation control method, comprising: obtaining current state information and target trajectory information of the submersible; generating a first control instruction for driving a main actuator of the submersible based on the current state information and the target trajectory information; if the first control instruction exceeds a preset execution ability threshold of the main actuator, generating a second control instruction for driving an auxiliary actuator of the submersible based on the first control instruction to compensate for the control ability of the main actuator.

[0006] In some embodiments, the auxiliary actuator includes an auxiliary thruster arranged at the bow and / or stern of the submersible, and a ballast system for adjusting the buoyancy and trim of the submersible; the auxiliary thruster is a retractable thruster.

[0007] In some embodiments, the generating a first control instruction for driving a main actuator of the submersible based on the current state information and the target trajectory information comprises: construct a target function based on the current state information and the target track information, and determine a constraint condition of the target function; adopt a model predictive control algorithm to solve the target function under the constraint condition, obtain an optimal control force distribution strategy, and generate a first control instruction based on the optimal control force distribution strategy.

[0008] In some embodiments, the constraint condition comprises a rudder speed saturation constraint, a rudder angle saturation constraint, a submarine pitch angle limit, and a ballast water flow limit.

[0009] In some embodiments, the first control instruction comprises a first horizontal control instruction for controlling a rudder of the main actuator and a first vertical control instruction for controlling an elevator of the main actuator, and the second control instruction comprises a second horizontal control instruction for controlling an auxiliary thruster of the auxiliary actuator and a second vertical control instruction for controlling a ballast system of the auxiliary actuator.

[0010] In some embodiments, when the first control instruction exceeds a preset execution capability threshold of the main actuator, a second control instruction for driving an auxiliary actuator of the submarine is generated based on the first control instruction, comprising: when the first horizontal control instruction exceeds an execution capability threshold of the rudder of the main actuator, a second horizontal control instruction is generated based on the first horizontal control instruction.

[0011] In some embodiments, when the first control instruction exceeds a preset execution capability threshold of the main actuator, a second control instruction for driving an auxiliary actuator of the submarine is generated based on the first control instruction, comprising: when the first vertical control instruction exceeds an execution capability threshold of the elevator of the main actuator, a second vertical control instruction is generated based on the first vertical control instruction.

[0012] The application also provides a submarine low-speed navigation control device, comprising: an acquisition unit configured to acquire current state information and target track information of a submarine; a first generation unit configured to generate a first control instruction for driving a main actuator of the submarine based on the current state information and the target track information; The second generating unit is configured to generate a second control instruction for driving an auxiliary actuating mechanism of the submersible based on the first control instruction, so as to compensate for the control capability of the main actuating mechanism, when the first control instruction exceeds the preset execution capability threshold of the main actuating mechanism.

[0013] The application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the submersible low-speed navigation control method according to any one of the above when executing the program.

[0014] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the submersible low-speed navigation control method according to any one of the above.

[0015] The submersible low-speed navigation control method, device, electronic device and storage medium provided by the application can obtain current state information and target track information of the submersible, generate a first control instruction for driving a main actuating mechanism of the submersible based on the current state information and the target track information, and generate a second control instruction for driving an auxiliary actuating mechanism of the submersible based on the first control instruction, so as to compensate for the control capability of the main actuating mechanism, when the first control instruction exceeds a preset execution capability threshold of the main actuating mechanism, thereby significantly improving the control capability and navigation accuracy of the submersible during low-speed navigation. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 is one of the flowcharts of the submersible low-speed navigation control method provided by the embodiments of the present application.

[0018] Figure 2 is the flowchart of the generation process of the first control instruction provided by the embodiments of the present application.

[0019] Figure 3 is the second flowchart of the submersible low-speed navigation control method provided by the embodiments of the present application.

[0020] Figure 4 is the three-dimensional track simulation result schematic diagram provided by the embodiments of the present application.

[0021] Figure 5is a structural schematic view of a submersible low-speed navigation control device provided by an embodiment of the present application.

[0022] Figure 6 is a structural schematic view of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described below in detail with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0024] The terms "first", "second" and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second" are generally a category, and are not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the present application means at least one of the connected objects, and the character " / " generally means that the front and rear associated objects are in an "or" relationship.

[0025] Figure 1 is one of the flowcharts of a submersible low-speed navigation control method provided by an embodiment of the present application. As shown in Figure 1 A submersible low-speed navigation control method is provided, which includes the following steps: step 110, step 120 and step 130. The method flow steps are only used as one possible implementation of the present application.

[0026] Step 110, obtaining the current state information and target track information of the submersible.

[0027] Optionally, the current state information includes but is not limited to the position, attitude and speed information of the submersible. These information are not directly obtained by a single sensor, but are obtained by fusing and solving the data of multiple sensors through a navigation system. Commonly used sensors include an inertial measurement unit, a Doppler log, a depth sensor, a global positioning system GPS and an underwater acoustic positioning system.

[0028] The target track information is an ideal path that the submersible needs to follow, which is planned in advance or generated in real time. The target track information at least includes waypoints, desired states, and path forms. The waypoints are a series of discrete geographic coordinate points. The desired states are states that the submersible is expected to reach, such as desired speed, heading, and depth. The path forms can be a simple straight line segment connection or a complex curve function.

[0029] Step 120, based on the current state information and the target track information, generating a first control instruction for driving the main actuator of the submersible.

[0030] The main actuator is a physical device that directly generates force or torque to drive the movement of the submersible, such as a main propeller, rudder, and elevator.

[0031] Optionally, based on the current state information and the target track information, the deviation between the current state and the desired state is determined, a control algorithm is adopted, the expected control force is calculated based on the deviation, the expected control force is reasonably distributed to the main actuator to obtain an optimal control force distribution strategy, and the first control instruction is generated based on the optimal control force distribution strategy.

[0032] In some embodiments, the first control instruction includes a first horizontal control instruction for controlling the rudder of the main actuator and a first vertical control instruction for controlling the elevator of the main actuator.

[0033] It should be noted that for horizontal plane motion, the control instruction calculated based on the control algorithm is the rudder command angle, and when the command angle exceeds the range of the rudder, it is compensated by the stern side thrust; for vertical plane motion, the command is the surrounding rudder / bow rudder command and the stern elevator command, which can be compensated by the surrounding rudder / bow rudder command using the buoyancy adjusting tank; the stern elevator command is compensated by the trim adjusting tank.

[0034] Step 130, in the case where the first control instruction exceeds the preset execution capability threshold of the main actuator, generating a second control instruction for driving the auxiliary actuator of the submersible based on the first control instruction to compensate for the control capability of the main actuator.

[0035] The preset execution capability threshold refers to the maximum working limit of the main actuator due to its physical structure, mechanical limitations, or power limitations. These limits are inherent and cannot be exceeded. For example, the rudder angle limit, the maximum deflection angle of the rudder or horizontal rudder; thrust / rotation speed limit, maximum output thrust or maximum rotation speed of the propeller; rate limit, maximum rate of change of state of the actuator.

[0036] In some embodiments, the auxiliary execution mechanism comprises: auxiliary thrusters arranged at the bow and / or stern of the submersible, and a ballast system for adjusting the buoyancy and trim of the submersible; the auxiliary thrusters are retractable thrusters.

[0037] The auxiliary thrusters are used to generate force and torque in the horizontal plane. The auxiliary thrusters at the bow or stern of the submersible can work with the main thrusters to generate a turning moment for assisting in turning or rotating in place. The auxiliary thrusters at the bow and stern of the submersible work together not only to generate a strong turning moment, but also to enable the submersible to translate laterally without changing the heading. When the rudder cannot provide enough turning moment due to rudder angle saturation or low flow rate, the auxiliary thrusters can be activated immediately to make up the required moment difference.

[0038] It can be understood that when cruising over a long distance and without the need for high maneuverability, the auxiliary thrusters can be retracted into the hull of the submersible. This makes the submersible more streamlined, which can significantly reduce the resistance and thus save a lot of energy and increase the range.

[0039] The ballast system is used to compensate for the persistent and slowly changing force or torque, and to control the static or quasi-static balance of the submersible in the vertical plane. The ballast system has the following functions: Buoyancy adjustment: by filling or draining the ballast water tank, the total weight of the submersible is changed so that its buoyancy is greater than, equal to, or less than the weight of gravity, thereby achieving floating, hovering, or diving; Trim adjustment: by transferring ballast water between the bow and stern trim adjustment tanks, or moving internal weights, the center of gravity of the submersible is changed to adjust its static trim angle.

[0040] In some embodiments, the second control instruction comprises: a second horizontal control instruction for controlling the auxiliary thrusters of the auxiliary execution mechanism, and a second vertical control instruction for controlling the ballast system of the auxiliary execution mechanism.

[0041] In some embodiments, when the first control instruction exceeds the preset execution capability threshold of the main execution mechanism, a second control instruction for driving the auxiliary execution mechanism of the submersible is generated based on the first control instruction, comprising: When the first horizontal control instruction exceeds the execution capability threshold of the rudder of the main execution mechanism, a second horizontal control instruction is generated based on the first horizontal control instruction.

[0042] Optionally, in some embodiments, when the first control instruction exceeds the preset execution capability threshold of the main execution mechanism, a horizontal moment difference corresponding to the first control instruction is calculated, and a second horizontal control instruction is generated according to the horizontal moment difference.

[0043] It should be noted that at low speed, the steering force required for rudder angle control is limited, and the buoyancy adjustment capability of the current large submersible, as well as the stern side thrust, can provide compensation for the steering force; in the embodiment of the application, the control instructions of "rudder-propeller-water" are generated based on the same controller, so the control algorithm designed has good stability, and unified control under the constraint condition is realized.

[0044] Specifically, since the control algorithm takes the heading as the control input, the steering moment balance equation is selected as the basis for steering compensation. Let the rudder angle limit of the rudder be , which can be the physical limit of the rudder, or a soft limit artificially set to ensure a certain steering margin. Then the control instruction of the stern side thruster, i.e., the second horizontal control instruction, is: ; ; wherein, is the distance from the stern auxiliary thruster to the center of gravity, is the command speed of the stern side thrust.

[0045] It can be understood that in the case where the first control instruction exceeds the preset execution capability threshold of the main execution mechanism, the second control instruction for driving the auxiliary execution mechanism of the submersible is generated based on the first control instruction, so that the submersible can turn or translate in place at extremely low speed, thereby ensuring that the submersible can still accurately maintain the heading in severe sea conditions.

[0046] In some embodiments, in the case where the first control instruction exceeds the preset execution capability threshold of the main execution mechanism, the second control instruction for driving the auxiliary execution mechanism of the submersible is generated based on the first control instruction, including: In the case where the first vertical control instruction exceeds the execution capability threshold of the elevator of the main execution mechanism, the second vertical control instruction is generated based on the first vertical control instruction.

[0047] Specifically, in the case where the first vertical control instruction exceeds the execution capability threshold of the elevator of the main execution mechanism, the vertical moment difference corresponding to the first vertical control instruction is calculated, and the second vertical control instruction is generated according to the vertical moment difference.

[0048] It should be noted that for the vertical plane control, the controller calculates the output including the rudder / elevator command and the elevator command. The rudder / elevator is used to control the depth, and the elevator is used to stabilize the trim. In the control practice, the rudder / elevator may be in the full rudder saturation condition, and the elevator is usually a small rudder angle. When the submarine is sailing at a low speed, the control ability of the elevator is limited, especially the ability of the rudder / elevator to maintain the depth is weak, and the depth control system will be used to improve the control ability of the rudder / elevator.

[0049] Specifically, since the control algorithm takes the depth and the trim as the control input, the vertical control force and the trim moment balance equation are selected as the basis for the control compensation. The second vertical control command is: ; .

[0050] It can be understood that by generating the second vertical control command based on the first vertical control command, the control ability of the elevator of the ballast system can be compensated based on the second vertical control command, so that the sudden wave, internal wave or temporary maneuvering command can be responded at any time, and the stability and safety of the submarine in the vertical plane are greatly improved.

[0051] In the embodiment of the present application, the current state information and the target track information of the submarine are acquired, the first control command for driving the main actuator of the submarine is generated based on the current state information and the target track information, and the second control command for driving the auxiliary actuator of the submarine is generated based on the first control command in the case that the first control command exceeds the preset execution ability threshold of the main actuator, so as to compensate the control ability of the main actuator, which can significantly improve the control ability and navigation accuracy of the submarine when sailing at a low speed.

[0052] Figure 2 The flowchart of the generation process of the first control command provided in the embodiment of the present application is shown in FIG. 1. As shown in FIG. 1, in some embodiments, step 120 generates the first control command for driving the main actuator of the submarine based on the current state information and the target track information, including: Figure 2 Step 121, constructing a target function based on the current state information and the target track information, and determining the constraint condition of the target function. In some embodiments, the constraint condition includes the rudder speed saturation constraint, the rudder angle saturation constraint, the submarine trim angle limit and the water discharge flow limit.

[0053] Optionally, the calculation formula of the target function is as follows: ; Wherein, J k ​J is the value of the objective function, representing the cost or loss; Δδ k represents the change of the first control command of each step starting at time k in the control time domain; S is a weight matrix, used to punish the control action that is too large; f is a coefficient vector, which is calculated based on the current state information and the target track information, and is used to guide the submersible to track the target; δ(k) represents the rudder angle at time k, which is determined based on the control command at time k; δ min represents the lower limit of the rudder angle; δ max represents the upper limit of the rudder angle; Δδ(k) represents the rudder speed at time k, which is determined based on the first control command at time k; Δδ min represents the lower limit of the rudder speed, Δδ max represents the upper limit of the rudder speed.

[0054] It should be noted that, for the horizontal track tracking control problem of a large submersible, due to the physical constraints of the main actuator, the amplitude of the rudder and the rudder speed are limited, that is, the control input needs to meet certain constraint conditions.

[0055] In step 122, a model predictive control algorithm is used to solve the objective function under the constraint condition to obtain an optimal control force distribution strategy, and a first control command is generated based on the optimal control force distribution strategy.

[0056] The model predictive control algorithm is a control method based on a system model, using the predicted information in a future period of time to obtain a control strategy by optimizing the objective function, which can handle system constraints and has good robustness.

[0057] Optionally, the calculated total control force is effectively distributed to the main actuator to ensure the optimal overall control effect.

[0058] In the embodiment of the present application, by constructing a perfect objective function and combining real-time state information, the control input is accurately calculated to realize accurate tracking of the submersible track; by using the model predictive control algorithm, various constraint conditions in the control process can be well handled to ensure that the submersible operates within the safe and technically allowed range; by using the optimal control force distribution strategy, unnecessary energy consumption is reduced, and the endurance of the submersible is improved.

[0059] Figure 3 Fig. 2 is a flowchart of a submersible low-speed navigation control method according to an embodiment of the present application. Figure 3As shown, firstly, the track guidance method is improved to ensure that the tracking deviation under the flow condition meets the control index requirement; then, the rudder speed, the water displacement speed, the auxiliary propeller speed and other constraints are introduced into the model predictive control algorithm to improve the traditional control algorithm, and the rudder speed constraint is converted into the design input of the model predictive control algorithm; finally, aiming at the rudder angle saturation constraint maneuvering ability limitation, the control means of the auxiliary propeller and the buoyancy adjustment system are introduced, and when the generated first control instruction exceeds the rudder angle limit, the designed control force distribution strategy is used to compensate for the over-limit rudder angle.

[0060] Optionally, the first control instruction is a three-dimensional track instruction, and the three-dimensional track instruction includes a horizontal plane track instruction and a vertical plane track instruction.

[0061] Figure 4 A three-dimensional track simulation result schematic diagram provided by the embodiment of the present application is shown. The above control algorithm is simulated and verified by using a model. In the simulation, the sailing speed is set to 3.5 kn, five path points are set in advance, and the influence of an initial stern skew flow of 2 kn is received during the sailing process. From the simulation results shown in FIG. 6, it can be seen that the track tracking control result converges finally, and therefore the designed control method is effective. Figure 4

[0062] The following describes the submersible low-speed sailing control device provided by the embodiment of the present application, and the submersible low-speed sailing control device described below can be correspondingly referred to the submersible low-speed sailing control method described above.

[0063] Figure 5 A structure schematic diagram of the submersible low-speed sailing control device provided by the embodiment of the present application is shown in FIG. 5, which includes: Figure 5 The acquisition unit 510 is configured to acquire the current state information and the target track information of the submersible. The first generation unit 520 is configured to generate a first control instruction for driving the main actuator of the submersible based on the current state information and the target track information. The second generation unit 530 is configured to generate a second control instruction for driving the auxiliary actuator of the submersible based on the first control instruction in a case where the first control instruction exceeds a preset execution capability threshold of the main actuator, so as to compensate for the control capability of the main actuator.

[0064] Optionally, the auxiliary actuator includes an auxiliary propeller arranged at the bow and / or stern of the submersible, and a ballast system for adjusting the buoyancy and trim of the submersible; and the auxiliary propeller is a retractable propeller.

[0065] Optionally, the first control instruction for driving the main actuator of the submersible is generated based on the current state information and the target track information, including:​​ Based on the current state information and the target trajectory information, a target function is constructed, and a constraint condition of the target function is determined; An optimal control force distribution strategy is obtained by solving the target function under the constraint condition by using a model predictive control algorithm, and a first control instruction is generated based on the optimal control force distribution strategy.

[0066] Optionally, the constraint condition comprises a rudder speed saturation constraint, a rudder angle saturation constraint, a submarine trim angle limit and a water discharge flow limit.

[0067] Optionally, the first control instruction comprises a first horizontal control instruction for controlling a rudder of the main actuating mechanism and a first vertical control instruction for controlling an elevator of the main actuating mechanism, and the second control instruction comprises a second horizontal control instruction for controlling an auxiliary thruster of the auxiliary actuating mechanism and a second vertical control instruction for controlling a ballast system of the auxiliary actuating mechanism.

[0068] Optionally, in a case where the first control instruction exceeds a preset execution capability threshold of the main actuating mechanism, a second control instruction for driving the auxiliary actuating mechanism of the submarine is generated based on the first control instruction, comprising: In a case where the first horizontal control instruction exceeds an execution capability threshold of the rudder of the main actuating mechanism, a second horizontal control instruction is generated based on the first horizontal control instruction.

[0069] Optionally, in a case where the first control instruction exceeds a preset execution capability threshold of the main actuating mechanism, a second control instruction for driving the auxiliary actuating mechanism of the submarine is generated based on the first control instruction, comprising: In a case where the first vertical control instruction exceeds an execution capability threshold of the elevator of the main actuating mechanism, a second vertical control instruction is generated based on the first vertical control instruction.

[0070] It should be noted that the submarine low-speed navigation control device provided by the embodiment of the present application can realize all the method steps realized by the submarine low-speed navigation control method embodiment, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment in this embodiment will not be described in detail.

[0071] Figure 6 The structural schematic diagram of the electronic device provided by the embodiment of the present application is as follows: Figure 6As shown, the electronic device can include a processor 610, a communications interface 620, a memory 630, and a communications bus 640, wherein the processor 610, the communications interface 620, and the memory 630 complete communications with each other through the communications bus 640. The processor 610 can invoke a logical instruction in the memory 630 to execute the submersible low-speed navigation control method, which includes: obtaining current state information and target track information of the submersible; based on the current state information and the target track information, generating a first control instruction for driving a main actuator of the submersible; in the case that the first control instruction exceeds a preset execution capability threshold of the main actuator, based on the first control instruction, generating a second control instruction for driving an auxiliary actuator of the submersible to compensate for the control capability of the main actuator.

[0072] In addition, the logical instruction in the memory 630 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0073] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the submersible low-speed navigation control method provided by the above-mentioned methods, which includes: obtaining current state information and target track information of the submersible; based on the current state information and the target track information, generating a first control instruction for driving a main actuator of the submersible; in the case that the first control instruction exceeds a preset execution capability threshold of the main actuator, based on the first control instruction, generating a second control instruction for driving an auxiliary actuator of the submersible to compensate for the control capability of the main actuator.

[0074] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0075] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0076] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling low-speed navigation of a submersible, characterized in that, include: Acquire the current status information of the submersible and the target trajectory information; Based on the current status information and target trajectory information, a first control command is generated to drive the main actuator of the submersible. If the first control command exceeds the preset execution capability threshold of the main actuator, a second control command is generated based on the first control command to drive the auxiliary actuator of the submersible, so as to compensate for the control capability of the main actuator.

2. The low-speed navigation control method for a submersible according to claim 1, characterized in that, The auxiliary actuator includes: an auxiliary thruster disposed at the bow and / or stern of the submersible, and a load adjustment system for adjusting the buoyancy and pitch of the submersible; the auxiliary thruster is a retractable thruster.

3. The low-speed navigation control method for a submersible according to claim 1, characterized in that, The first control command for driving the main actuator of the submersible, based on the current state information and target trajectory information, includes: Based on the current state information and target trajectory information, an objective function is constructed, and the constraints of the objective function are determined. Using a model predictive control algorithm, the objective function is solved under the constraints to obtain the optimal control force allocation strategy. Based on the optimal control force allocation strategy, a first control command is generated.

4. The submersible low-speed navigation control method according to claim 3, characterized in that, The constraints include: rudder speed saturation constraint, rudder angle saturation constraint, submersible pitch angle limit, and water discharge / injection flow rate limit.

5. The low-speed navigation control method for a submersible according to claim 1, characterized in that, The first control command includes a first horizontal control command and a first vertical control command, wherein the first horizontal control command is used to control the rudder of the main actuator and the first vertical control command is used to control the elevator of the main actuator; the second control command includes a second horizontal control command and a second vertical control command, wherein the second horizontal control command is used to control the auxiliary thruster of the auxiliary actuator and the second vertical control command is used to control the load adjustment system of the auxiliary actuator.

6. The low-speed navigation control method for a submersible according to claim 5, characterized in that, When the first control command exceeds a preset execution capability threshold of the main actuator, a second control command is generated based on the first control command to drive the auxiliary actuator of the submersible, including: If the first level control command exceeds the execution capability threshold of the rudder of the main actuator, a second level control command is generated based on the first level control command.

7. The low-speed navigation control method for a submersible according to claim 5, characterized in that, When the first control command exceeds a preset execution capability threshold of the main actuator, a second control command is generated based on the first control command to drive the auxiliary actuator of the submersible, including: If the first vertical control command exceeds the execution capability threshold of the elevator of the main actuator, a second vertical control command is generated based on the first vertical control command.

8. A low-speed navigation control device for a submersible, characterized in that, include: The acquisition unit is used to acquire the current status information and target trajectory information of the submersible; The first generation unit is used to generate a first control command for driving the main actuator of the submersible based on the current state information and the target trajectory information. The second generation unit is used to generate a second control command for driving the auxiliary actuator of the submersible based on the first control command when the first control command exceeds the preset execution capability threshold of the main actuator, so as to compensate for the control capability of the main actuator.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the low-speed navigation control method for a submersible as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the low-speed navigation control method for a submersible as described in any one of claims 1 to 7.

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