Water-air mode switching propulsion control system and method for ion propulsion type water-air dual-purpose ship

Abstract

The invention discloses a water-air mode switching propulsion control system and method for an ion propulsion type water-air dual-purpose ship, and the system comprises a plurality of groups of rotatable ion propulsion generation devices and a control system, and the plurality of groups of rotatable ion propulsion generation devices are symmetrically arranged at the two sides or the bottom of a ship body, and are connected with the ship body through a hinged rotary mechanical structure; the control system integrates an attitude sensor group, an environment sensing sensor group, a main controller and a communication module, and through three-layer cooperative control logic of stepped attitude adjustment, medium adaptive propulsion parameter dynamic matching and PID closed-loop attitude cooperative control, the control system combines transition buffering, fault redundancy and energy optimization strategies; and stable switching between a water surface navigation mode and an air flight mode is realized. Through three-layer logic of stepped attitude adjustment, medium-adaptive propulsion parameter dynamic matching and PID closed-loop attitude cooperative control, in combination with transition buffer, fault redundancy, energy optimization and stealth optimization strategies, stable and efficient switching of a water mode and an air mode is realized.

Description

Technical Field

[0001] This invention relates to a water-air mode switching propulsion control system and method, and more particularly to a water-air mode switching propulsion control system and method for an ion-propelled amphibious vessel. Background Technology

[0002] As a new type of amphibious transport platform that combines surface navigation and air flight capabilities, the demand for amphibious vessels continues to grow in both military and civilian applications. Current amphibious vessels primarily rely on propeller or turbojet propulsion technologies, which present several technical bottlenecks: First, the traditional propulsion method requires complex mechanical adjustments for switching between water and air modes, easily leading to severe fluctuations in hull attitude and even instability risks, with insufficient smoothness and safety during the switching process. Second, the propulsion parameters are fixed values, failing to adapt to the differences in fluid characteristics between water and air. Water resistance is high and propulsion efficiency is low when navigating on the surface, while noise and heat radiation are high when flying in the air, and there is a lack of targeted efficiency optimization strategies. Third, although ion propulsion technology has been maturely applied in the aerospace field, current technologies only focus on single airspace or water scenarios, and no ion propulsion mode switching control strategy adapted to amphibious vessels has been proposed, nor have fault redundancy and energy optimization mechanisms been established, limiting system reliability and endurance. Fourth, traditional propulsion devices generate significant acoustic radiation and visual wakes during operation, and the hull lacks targeted stealth design, resulting in low detectability and difficulty meeting the needs of military reconnaissance and other scenarios.

[0003] Among the existing patents, some solutions propose mode switching methods for amphibious vessels, but most focus on improving the mechanical structure and do not design control logic in conjunction with the characteristics of ion propulsion technology. Some solutions involve parameter control of ion propulsion, but are only applicable to single-medium scenarios and lack dynamic matching strategies across media. At the same time, the existing technologies have not achieved three-layer collaborative control of attitude adjustment, parameter matching, and attitude closed loop, and also lack integrated design of transition buffer, fault redundancy and stealth optimization, which cannot solve the core pain points of large attitude fluctuations, low propulsion efficiency and poor stealth when switching between amphibious and air modes.

[0004] Therefore, there is an urgent need for a water-to-air mode switching propulsion control method adapted to ion propulsion technology. Through multi-dimensional collaborative control and strategy optimization, a smooth switching between water and air modes can be achieved, while improving propulsion efficiency, stealth performance and system reliability. Summary of the Invention

[0005] Purpose of the invention: This invention proposes a propulsion control system and method for switching between water and air modes for an ion-propelled amphibious vessel. Through a three-layer logic of stepped attitude adjustment, dynamic matching of propulsion parameters adapted to the medium, and PID closed-loop attitude collaborative control, combined with transition buffering, fault redundancy, energy optimization and stealth optimization strategies, it achieves smooth and efficient switching between water and air modes, while improving the system's reliability, endurance and low detectability.

[0006] Technical Solution: This invention includes multiple sets of rotatable ion propulsion generators and a control system. The multiple sets of rotatable ion propulsion generators are symmetrically arranged on both sides or the bottom of the hull and connected to the hull through a hinged rotating mechanical structure. The control system integrates an attitude sensor group, an environmental perception sensor group, a main controller, and a communication module. The control system achieves smooth switching between surface navigation and aerial flight modes through a three-layer collaborative control logic of stepped attitude adjustment, dynamic matching of propulsion parameters adapted to the medium, and PID closed-loop attitude collaborative control, combined with transition buffering, fault redundancy, and energy optimization strategies.

[0007] A propulsion control method for switching between water and air modes in an ion-propelled amphibious vessel includes the following steps:

[0008] S1. Mode Trigger Determination: The system receives mode switching commands actively input by the user through the communication module, or automatically determines whether the target to switch is the surface navigation mode or the air flight mode by collecting environmental perception signals such as the ship's draft, air pressure, and obstacle ranging from the environmental perception sensor group.

[0009] S2, Propulsion Device Attitude Adjustment: The main controller sends an angle control command to the rotating mechanical structure, driving the ion propulsion generator to rotate around the hinge axis, adjusting the jet direction to an attitude that matches the target mode;

[0010] S3. Dynamic matching of propulsion parameters: Based on the fluid characteristics of the target mode, dynamically adjust the ion jet intensity and jet vector distribution ratio of the ion propulsion generator. The water surface navigation mode is adapted to the water medium resistance characteristics, and the air flight mode is adapted to the air medium aerodynamic resistance characteristics.

[0011] S4. Attitude Coordinated Closed-Loop Control: Combining the real-time attitude angle and angular velocity signals of the hull fed back by the attitude sensor group, a PID closed-loop control algorithm is adopted to synchronously adjust the output parameters of multiple ion propulsion generators.

[0012] The mode switching command includes at least one of the following: manual input command from remote control, remote command from ground station APP, and preset task trigger command; the environmental perception signal includes at least one of the following: draft depth signal collected by draft depth sensor, airspace pressure signal collected by barometric altimeter, and obstacle ranging signal collected by lidar; when the environmental perception signal meets the preset threshold, the main controller automatically triggers mode switching.

[0013] The preset thresholds are: a draft depth < 5cm triggers flight mode; an airspace obstacle distance < 10m triggers obstacle avoidance mode switching; and a flight altitude < 2m and a draft depth ≥ 10cm triggers water surface mode.

[0014] In surface navigation mode, dynamic matching of propulsion parameters specifically includes:

[0015] a. Adjust the jet direction of the ion propulsion generator to a horizontal rearward attitude parallel to the longitudinal axis of the hull, or a horizontal rearward attitude tilted downward.

[0016] b. Dynamically adjust the spray intensity based on the real-time draft depth feedback from the draft depth sensor;

[0017] c. Adjust the jet intensity difference of the ion propulsion generators on both sides of the hull according to the position of the ship's center of gravity: if the center of gravity shifts to one side, the jet intensity on that side increases and the jet intensity on the other side decreases accordingly.

[0018] In in-flight mode, dynamic matching of propulsion parameters specifically includes:

[0019] a. In hovering mode, adjust the jet direction to vertically upward; in forward flight mode, adjust it to an upward tilted attitude relative to the horizontal plane.

[0020] b. Dynamically adjust the injection vector difference based on the real-time attitude angle feedback from the attitude sensor group;

[0021] c. Adjust the total jet intensity in real time based on airspace pressure signals to maintain the ship's stable flight altitude.

[0022] It also includes a transition mode buffer to achieve a smooth transition between water and air modes, specifically:

[0023] a. Water Surface → Flight Mode Switching: First, gradually raise the jet direction from horizontal to backward to tilt, while increasing the jet intensity to the design value, and enter the transition buffer phase; when the draft depth sensor detects that the draft depth is 0, adjust the jet direction to vertical upward, increase the jet intensity to 100%, and enter the stable flight mode;

[0024] b. Flight → Surface Mode Switching: First, reduce the jet intensity to the design value and adjust the jet direction from vertical downward to horizontal forward; when the hull contacts the water surface and the draft is stable at more than 10cm, switch to the propulsion parameters for surface navigation mode.

[0025] It also includes fault redundancy control, specifically:

[0026] a. The operating current of each ion propulsion generator is monitored in real time using a current sensor. When the current deviates from the rated current by ±20%, the device is deemed to be faulty.

[0027] b. The control system automatically adjusts the jet vector distribution ratio of the remaining normal propulsion devices and compensates for the thrust loss of the faulty device by adjusting the jet direction;

[0028] c. In case of failure, prioritize the propulsion safety of the current mode: in surface mode, prioritize maintaining horizontal propulsion capability; in flight mode, prioritize maintaining lift balance.

[0029] This also includes energy management optimization, specifically:

[0030] a. Calculate the required instantaneous energy based on the mode switching time and injection intensity using an energy consumption prediction model;

[0031] b. Dynamically adjust the output parameters of the lithium-ion battery pack to meet instantaneous power requirements;

[0032] c. Optimize energy allocation by combining energy consumption prediction models to reduce energy loss during mode switching by more than 15%.

[0033] In S4, the angular velocity feedback from the attitude sensor group is used as input to adjust the injection parameters of the ion propulsion generator in real time, so that the attitude fluctuation of the hull during the mode switching process meets the following requirements: pitch angle fluctuation is less than 2°, roll angle fluctuation is less than 1.5°, and yaw angle fluctuation is less than 3°.

[0034] Beneficial effects: The present invention has the following advantages:

[0035] 1. Significantly improved mode switching smoothness: By using a step-by-step attitude adjustment strategy with PID closed-loop attitude coordinated control, the pitch angle fluctuation during mode switching is controlled within 2°, the roll angle fluctuation within 1.5°, and the yaw angle fluctuation within 3°, which completely solves the problem of sudden attitude change and instability in traditional methods and improves the safety of the switching process.

[0036] 2. Significantly optimized cross-medium propulsion efficiency: Propulsion parameters are dynamically matched to the fluid characteristics of water and air media, resulting in a propulsion efficiency improvement of over 12% in water surface navigation mode and a lift efficiency improvement of over 8% in air flight mode. This solves the limitation of the traditional propulsion method of "single-scenario adaptation" and achieves efficient cross-medium propulsion.

[0037] 3. Improved system reliability and endurance: The fault redundancy control strategy can maintain stable system operation when a single propulsion unit fails, improving equipment safety by 40%; the energy management optimization strategy reduces energy loss during mode switching by more than 15%, extends the endurance of the amphibious vessel by 10%, and improves the system's mission continuity.

[0038] 4. Stealth performance adapted to military scenario requirements: By combining low-noise jetting and low-whale control with hull stealth design, the acoustic detectability during surface navigation is reduced by 20dB and the visual detectability is reduced by 30%, meeting the low detectability requirements of scenarios such as military reconnaissance.

[0039] 5. Strong adaptability to multiple scenarios: It supports manual / automatic dual trigger modes, which can be adapted to multiple scenarios such as military reconnaissance, logistics transportation, and environmental monitoring. The modular control logic facilitates subsequent function expansion and technology iteration, making it highly practical. Attached Figure Description

[0040] Figure 1 This is a flowchart of the present invention. Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] Example 1

[0043] like Figure 1 As shown, the water-air mode switching propulsion control system of the ion-propelled amphibious vessel in this embodiment includes a hull, multiple sets of rotatable ion propulsion generators, a power system, and a control system. The multiple sets of rotatable ion propulsion generators are symmetrically arranged on both sides or the bottom of the hull and are connected to the hull through an articulated rotating mechanical structure driven by an electric servo motor. The control system achieves smooth switching between surface navigation and air flight modes through a three-layer collaborative control logic of stepped attitude adjustment, dynamic matching of propulsion parameters adapted to the medium, and PID closed-loop attitude collaborative control, combined with transition buffering, fault redundancy, and energy optimization strategies.

[0044] The main body of the ship is made of carbon fiber composite material in one piece. It is 1.2m long, 0.8m wide and 0.3m high. The center of gravity is distributed at the geometric center of the ship. The bottom is streamlined to reduce water resistance.

[0045] There are four sets of rotatable ion propulsion generators, symmetrically arranged on both sides of the hull (two in each set). Each set consists of an ion generator, a nozzle, and an electric servo hinge mechanism. The ion generator adopts cold plasma jet technology, and the rated jet intensity is adjustable from 0 to 100%. The hinge mechanism adopts MG996R electric servo motors, which support rotation from 0° to 180° and have an angle control accuracy of ±1°.

[0046] The power system uses a 24V / 10Ah lithium-ion battery pack, which supports dynamic voltage regulation (24V-36V) and current regulation (10A-20A), and has a built-in energy consumption prediction model.

[0047] The control system integrates an attitude sensor group, an environmental perception sensor group, a main controller, and a communication module.

[0048] The attitude sensor uses an MPU6050 six-axis gyroscope to collect the ship's pitch angle (-15°~15°), roll angle (-10°~10°), yaw angle (-30°~30°) and angular velocity signals, with a sampling frequency of 100Hz.

[0049] Environmental sensing sensors include a draft depth sensor (range 0-50cm, accuracy ±0.5cm), a barometric altimeter (range 0-1000m, accuracy ±1m), and a lidar (range 0-50m, accuracy ±0.1m).

[0050] The main controller uses an STM32H7 microprocessor with a built-in PID control algorithm module; the communication module integrates WiFi + 4G, supporting manual commands from the remote control and remote control via the ground station APP.

[0051] Example 2

[0052] The water-air mode switching propulsion control method for the ion-propelled amphibious vessel of this embodiment includes the following steps:

[0053] S1. Mode Trigger Determination: The system receives mode switching commands actively input by the user through the communication module, or automatically determines whether the target mode to switch to is surface navigation mode or air flight mode by using environmental perception signals such as ship draft, air pressure, and obstacle distance collected by the environmental perception sensor group.

[0054] Mode switching commands include manual input commands from the remote controller, remote commands from the ground station APP, and preset task trigger commands; environmental perception signals include at least one of the following: hull draft signal collected by the draft depth sensor, airspace pressure signal collected by the barometric altimeter, and obstacle ranging signal collected by the lidar; when the environmental perception signal meets the preset threshold (e.g., draft < 5cm triggers flight mode switching, airspace obstacle distance < 10m triggers obstacle avoidance switching), mode switching is automatically triggered.

[0055] The mode trigger determination includes:

[0056] Manual trigger: The user enters the "flight mode switch" command through the ground station APP, and the communication module transmits the command to the main controller, which determines that the target mode is the air flight mode.

[0057] Automatic triggering: When the draft sensor detects that the hull's draft is less than 5cm (the hull is about to leave the water), or when the lidar detects that the distance to the obstacle ahead is less than 10m, the main controller will automatically trigger the flight mode switch; when the barometric altimeter detects that the flight altitude is less than 2m and the draft is greater than or equal to 10cm, the surface mode switch will be automatically triggered.

[0058] S2. Propulsion device attitude adjustment: The main controller sends an angle control command to the rotating mechanical structure, driving the ion propulsion generator to rotate around the hinge axis, adjusting the jet direction to match the attitude of the target mode, with a rotation angle range of 0°-180°.

[0059] The rotating mechanical structure is a single-axis articulated electric servo mechanism. In the attitude adjustment process, a step-by-step angle change strategy is adopted: with a period of 100ms, the angle adjustment does not exceed 5° each time, and the rotational angular velocity is limited to within 10° / s to avoid violent shaking of the hull due to sudden changes in the attitude of the propulsion device; when the deviation between the jet direction and the target angle is less than 2°, the attitude adjustment is considered to be complete.

[0060] Taking the switch from surface navigation mode to aerial flight mode as an example:

[0061] Initial attitude: The ion propulsion generator is ejected horizontally backward (0°), parallel to the longitudinal axis of the hull.

[0062] Adjustment strategy: Use a step-by-step angle change with a period of 100ms. Each angle adjustment shall not exceed 5° and the rotational angular velocity shall be limited to within 10° / s.

[0063] Completion judgment: When the deviation between the spray direction and the target angle (vertical upward, 90°) is less than 2°, the attitude adjustment is judged to be completed (the whole process takes about 9 seconds) to avoid the ship from violent shaking due to sudden attitude changes.

[0064] S3. Dynamic matching of propulsion parameters: Based on the fluid characteristics of the target mode, dynamically adjust the ion jet intensity and jet vector distribution ratio of the ion propulsion generator; the water surface navigation mode is adapted to the water medium resistance characteristics, and the air flight mode is adapted to the air medium aerodynamic resistance characteristics.

[0065] In surface navigation mode, propulsion parameter matching specifically includes the following steps:

[0066] The jet direction of the ion propulsion generator is adjusted to a horizontal rearward attitude parallel to the longitudinal axis of the hull, and the reverse thrust of the ion jet is used to achieve water surface propulsion.

[0067] Based on the real-time draft depth feedback from the draft depth sensor, the jet intensity of the ion propulsion generators on both sides is dynamically allocated: the jet intensity increases by 5% for every 10cm increase in draft depth;

[0068] Adjust the difference in jet intensity between the two sides based on the ship's center of gravity position: if the center of gravity shifts to the left, increase the jet intensity of the propulsion device on the left by 3% and decrease it on the right by 3% to optimize the hull buoyancy distribution and propulsion efficiency.

[0069] In surface navigation mode, stealth performance optimization is also included.

[0070] By controlling the jet intensity of the ion propulsion generator within the low-noise rated range of 30%-50%, acoustic radiation signals are reduced; the jet direction is adjusted to tilt downwards by 10° to reduce the contact area between the jet ions and the water surface, thus reducing the visual characteristics of the water surface wake; combined with the carbon fiber composite material structure of the hull and the surface wave-absorbing coating, the acoustic detectability of the amphibious vessel is reduced by 20dB and the visual detectability is reduced by 30%.

[0071] In in-flight mode, the propulsion parameter matching steps include:

[0072] When hovering, adjust the jet direction to vertically upward; when flying forward, adjust it to an upward tilt at 45° to the horizontal.

[0073] Based on the real-time attitude angles fed back by the attitude sensor array, the jet vector difference of multiple ion propulsion generators is dynamically adjusted: when the pitch angle is 5°, the jet intensity of the front propulsion device is increased by 8% and that of the rear device is decreased by 8%; when the roll angle is 3°, the jet intensity of the left propulsion device is increased by 5% and that of the right propulsion device is decreased by 5%.

[0074] The total jet intensity is adjusted in real time based on air pressure signals to maintain the ship's stable flight altitude.

[0075] S4. Attitude Coordinated Closed-Loop Control: Combining the real-time attitude angle and angular velocity signals of the hull fed back by the attitude sensor group, a PID closed-loop control algorithm is adopted to synchronously adjust the output parameters of multiple ion propulsion generators, so as to achieve the optimal attitude stability and propulsion efficiency of the hull during mode switching.

[0076] The parameters of the PID control algorithm are set as follows: proportional coefficient Kp = 0.8, integral coefficient Ki = 0.2, and derivative coefficient Kd = 0.1.

[0077] Using the angular velocity feedback from the attitude sensor group as input, the injection parameters of the ion propulsion generator are adjusted in real time to ensure that the attitude fluctuation of the hull during mode switching meets the following requirements: pitch angle fluctuation is less than 2°, roll angle fluctuation is less than 1.5°, and yaw angle fluctuation is less than 3°.

[0078] S5, Transition Mode Buffer

[0079] When switching from surface to flight mode: First, enter the transition buffer phase, gradually raise the jet direction from horizontal to rearward to 45°, and at the same time increase the jet intensity to 70% of the rated value; when the draft sensor detects that the ship's draft is 0, then adjust the jet direction to vertical upward, increase the jet intensity to 100%, and enter the stable flight mode.

[0080] When switching from flight to surface mode: first reduce the jet intensity to 60% of the rated value, and adjust the jet direction from vertical downward to horizontal forward to use the reverse thrust to decelerate; when the hull contacts the water surface and the draft is stable at more than 10cm, switch to the propulsion parameters of the surface navigation mode.

[0081] S6, Fault Redundancy Control

[0082] The operating current of each ion propulsion generator is monitored in real time by a current sensor. When the current of a certain propulsion generator is abnormal (deviates from the rated current by ±20%), the device is determined to be faulty. The control system automatically adjusts the jet vector distribution ratio of the remaining normal propulsion devices: if one of the four propulsion devices fails, the jet intensity of the other three groups is increased by 30% and the thrust loss of the faulty device is compensated by adjusting the jet direction. In the event of a fault, the propulsion safety of the current mode is prioritized: in the water surface mode, horizontal propulsion capability is prioritized, and in the flight mode, lift balance is prioritized.

[0083] S7, Energy Management Optimization

[0084] The power system incorporates an energy consumption prediction model based on mode switching, which calculates the required energy according to the switching time and injection intensity; it dynamically adjusts the output voltage and current of the lithium-ion battery pack: during mode switching, the output voltage is adjusted from 24V to 36V and the current is adjusted from 10A to 20A to meet the instantaneous power demand; combined with the energy consumption model to optimize energy distribution, the energy loss during mode switching is reduced by 15%, and the range of the amphibious vessel is extended by 10%.

[0085] Example 3

[0086] This embodiment verifies the technical effectiveness through actual ship testing:

[0087] Mode switching efficiency: Water surface → Flight mode switching time ≤ 12 seconds, Flight → Water surface mode switching time ≤ 10 seconds, and hull attitude fluctuations during the switching process meet the following requirements: pitch angle fluctuation < 2°, roll angle fluctuation < 1.5°, and yaw angle fluctuation < 3°.

[0088] Propulsion efficiency: Propulsion efficiency is increased by 12% in surface navigation mode and lift efficiency is increased by 8% in air flight mode.

[0089] Stealth performance: When navigating on the surface, the acoustic detection range is reduced from 1,000 meters to 800 meters, and the visual wake signature is reduced by 30%.

[0090] Fault redundancy capability: In the event of a single propulsion unit failure, the hull can still maintain stable operation in the current mode, improving safety by 40%.

Claims

1. A propulsion control system for an ion-propelled amphibious vessel, characterized in that: The system includes multiple sets of rotatable ion propulsion generators and a control system. The multiple sets of rotatable ion propulsion generators are symmetrically arranged on both sides or the bottom of the hull and connected to the hull through a hinged rotating mechanical structure. The control system integrates an attitude sensor group, an environmental perception sensor group, a main controller, and a communication module. The control system achieves smooth switching between surface navigation and air flight modes through a three-layer collaborative control logic of stepped attitude adjustment, dynamic matching of propulsion parameters adapted to the medium, and PID closed-loop attitude collaborative control, combined with transition buffering, fault redundancy, and energy optimization strategies.

2. A water-air mode switching propulsion control method for an ion-propulsion amphibious vessel applicable to the water-air mode switching propulsion control system described in claim 1, characterized in that, Includes the following steps: S1. Mode Trigger Determination: The system receives mode switching commands actively input by the user through the communication module, or automatically determines whether the target to switch is the surface navigation mode or the air flight mode by collecting environmental perception signals such as the ship's draft, air pressure, and obstacle ranging from the environmental perception sensor group. S2, Propulsion Device Attitude Adjustment: The main controller sends an angle control command to the rotating mechanical structure, driving the ion propulsion generator to rotate around the hinge axis, adjusting the jet direction to an attitude that matches the target mode; S3. Dynamic matching of propulsion parameters: Based on the fluid characteristics of the target mode, dynamically adjust the ion jet intensity and jet vector distribution ratio of the ion propulsion generator. The water surface navigation mode is adapted to the water medium resistance characteristics, and the air flight mode is adapted to the air medium aerodynamic resistance characteristics. S4. Attitude Coordinated Closed-Loop Control: Combining the real-time attitude angle and angular velocity signals of the hull fed back by the attitude sensor group, a PID closed-loop control algorithm is adopted to synchronously adjust the output parameters of multiple ion propulsion generators.

3. The water-air mode switching propulsion control method for an ion-propelled amphibious vessel according to claim 2, characterized in that, The mode switching command includes at least one of the following: manual input command from remote control, remote command from ground station APP, and preset task trigger command; the environmental perception signal includes at least one of the following: draft depth signal collected by draft depth sensor, airspace pressure signal collected by barometric altimeter, and obstacle ranging signal collected by lidar; when the environmental perception signal meets the preset threshold, the main controller automatically triggers mode switching.

4. The water-air mode switching propulsion control method for an ion-propelled amphibious vessel according to claim 3, characterized in that, The preset thresholds are: a draft depth < 5cm triggers flight mode; an airspace obstacle distance < 10m triggers obstacle avoidance mode switching; and a flight altitude < 2m and a draft depth ≥ 10cm triggers water surface mode.

5. The water-air mode switching propulsion control method for an ion-propelled amphibious vessel according to claim 2, characterized in that, In surface navigation mode, dynamic matching of propulsion parameters specifically includes: a. Adjust the jet direction of the ion propulsion generator to a horizontal rearward attitude parallel to the longitudinal axis of the hull, or a horizontal rearward attitude tilted downward. b. Dynamically adjust the spray intensity based on the real-time draft depth feedback from the draft depth sensor; c. Adjust the jet intensity difference of the ion propulsion generators on both sides of the hull according to the position of the ship's center of gravity: if the center of gravity shifts to one side, the jet intensity on that side increases and the jet intensity on the other side decreases accordingly.

6. The propulsion control method for switching between water and air modes of an ion-propelled amphibious vessel according to claim 2, characterized in that, In in-flight mode, dynamic matching of propulsion parameters specifically includes: a. In hovering mode, adjust the jet direction to vertically upward; in forward flight mode, adjust it to an upward tilted attitude relative to the horizontal plane. b. Dynamically adjust the injection vector difference based on the real-time attitude angle feedback from the attitude sensor group; c. Adjust the total jet intensity in real time based on airspace pressure signals to maintain the ship's stable flight altitude.

7. The water-air mode switching propulsion control method for an ion-propelled amphibious vessel according to claim 2, characterized in that, It also includes a transition mode buffer to achieve a smooth transition between water and air modes, specifically: a. Water Surface → Flight Mode Switching: First, gradually raise the jet direction from horizontal to backward to tilt, while increasing the jet intensity to the design value, and enter the transition buffer phase; when the draft depth sensor detects that the draft depth is 0, adjust the jet direction to vertical upward, increase the jet intensity to 100%, and enter the stable flight mode; b. Flight → Surface Mode Switching: First, reduce the jet intensity to the design value and adjust the jet direction from vertical downward to horizontal forward; when the hull contacts the water surface and the draft is stable at more than 10cm, switch to the propulsion parameters for surface navigation mode.

8. The water-air mode switching propulsion control method for an ion-propelled amphibious vessel according to claim 2, characterized in that, It also includes fault redundancy control, specifically: a. The operating current of each ion propulsion generator is monitored in real time using a current sensor. When the current deviates from the rated current by ±20%, the device is deemed to be faulty. b. The control system automatically adjusts the jet vector distribution ratio of the remaining normal propulsion devices and compensates for the thrust loss of the faulty device by adjusting the jet direction; c. In case of failure, prioritize the propulsion safety of the current mode: in surface mode, prioritize maintaining horizontal propulsion capability; in flight mode, prioritize maintaining lift balance.

9. The propulsion control method for switching between water and air modes for an ion-propelled amphibious vessel according to claim 2, characterized in that, This also includes energy management optimization, specifically: a. Calculate the required instantaneous energy based on the mode switching time and injection intensity using an energy consumption prediction model; b. Dynamically adjust the output parameters of the lithium-ion battery pack to meet instantaneous power requirements; c. Optimize energy allocation by combining energy consumption prediction models to reduce energy loss during mode switching by more than 15%.

10. The water-air mode switching propulsion control method for an ion-propelled amphibious vessel according to claim 2, characterized in that, In S4, the angular velocity feedback from the attitude sensor group is used as input to adjust the injection parameters of the ion propulsion generator in real time, so that the attitude fluctuation of the hull during the mode switching process meets the following requirements: pitch angle fluctuation is less than 2°, roll angle fluctuation is less than 1.5°, and yaw angle fluctuation is less than 3°.

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