Underwater rescue platform based on single-propulsion full-vector actuator and control method thereof

Abstract

This invention relates to the field of rescue equipment technology, specifically disclosing an underwater rescue platform based on a single-propulsion full-vector actuator, comprising a lifting platform, a cabin, an azimuth servo motor, a transmission gear set, a pitch servo motor, a pitch drive shaft, and an underwater thruster; the cabin is equipped with a nozzle and a bearing transmission assembly; a rotary drive shaft is mounted on the lifting platform, one end of which is fixedly connected to the lifting platform, and the other end of which is fixedly equipped with a rotary gear; the rotary drive shaft is rotatably connected to the cabin via the bearing transmission assembly; the azimuth servo motor and the rotary gear are linked through the transmission gear set to drive the cabin to rotate; the output end of the pitch servo motor is fixedly connected to one end of the pitch drive shaft, and the other end of the pitch drive shaft is fixedly connected to the underwater thruster; this underwater rescue platform based on a single-propulsion full-vector actuator has a simplified structure, possesses full-vector power characteristics, and can automatically adapt to load changes.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel technology, and more specifically to an underwater rescue platform based on a single propulsion full vector actuator. Background Technology

[0002] With the rapid development of amphibious unmanned aerial vehicles (UAVs) and small unmanned surface vessels (USVs), their applications in environmental monitoring, waterway inspection, and scientific experiments are becoming increasingly widespread. However, during actual research and development testing and operations in complex waters, prototype aircraft frequently experience unexpected crashes or power loss due to factors such as water wave interference, battery depletion, communication link interruptions, or accidental locking of the flight control system. This results in the equipment remaining stranded and floating on the water for extended periods, unable to return autonomously. These unforeseen circumstances not only threaten the asset security of expensive equipment but also present significant technical challenges to subsequent recovery efforts.

[0003] Currently, the recovery and rescue of such targets stranded on the water surface mainly relies on the following methods, but all have obvious limitations. 1) Manual rescue: Traditional methods often require rescuers to row small boats to the fault area for manual recovery. This method is not only slow in terms of rescue response speed, but also poses a high risk to the personal safety of rescuers in unknown waters with large waves or complex environments. 2) Physical rescue by large unmanned vessels: Using remotely controlled large unmanned vessels to go to the target point, the target is brought back to shore by physical collision, pushing, or towing. Since large unmanned vessels mostly use traditional propeller differential steering, their maneuverability is poor, their turning radius is large, and it is difficult to achieve precise in-situ adjustment in narrow waters. Moreover, rough physical collisions can easily cause serious secondary damage to the carbon fiber structure, sensors, and other sensitive components of the faulty prototype. 3) Platform recovery: After the existing rescue platform lifts the faulty target, the total mass distribution of the system will change drastically. Due to the lack of a dynamic adjustment mechanism, the center of gravity of the rescue platform shifts sharply upward or to the side after the load increases, resulting in an imbalance of overall stability. When navigating on the water, it is very easy to capsize or deviate from its course, and it lacks the ability to actively maintain balance and navigation attitude.

[0004] In summary, existing surface rescue technologies generally suffer from core pain points such as low rescue accuracy, high risk of equipment damage, poor maneuverability, and unstable navigation attitude under heavy loads. The industry urgently needs an innovative rescue chassis system with a more streamlined structure, full vector power characteristics, and the ability to automatically adapt to load changes and actively maintain surface balance. Summary of the Invention

[0005] The purpose of this invention is to provide an underwater rescue platform based on a single propulsion full vector actuator.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An underwater rescue platform based on a single-propulsion full-vector actuator includes a lifting platform, a hull, an azimuth servo motor, a transmission gear set, a pitch servo motor, a pitch drive shaft, and an underwater thruster.

[0007] The cabin is equipped with a nozzle and a bearing transmission assembly, and the azimuth servo motor and the pitch servo motor are both fixedly connected to the cabin.

[0008] The lifting platform is equipped with a rotary drive shaft, one end of which is fixedly connected to the lifting platform, and the other end of which is fixedly equipped with a rotary gear.

[0009] The rotary drive shaft is rotatably connected to the cabin body via the bearing drive assembly, and the rotary gear is located inside the cabin body.

[0010] The azimuth servo motor and the rotary gear are linked through the transmission gear set to drive the cabin to rotate.

[0011] The output end of the pitch angle servo motor is fixedly connected to one end of the pitch drive shaft, and the other end of the pitch drive shaft is fixedly connected to the underwater thruster.

[0012] The underwater thruster is located at the nozzle.

[0013] In at least one embodiment of the underwater rescue platform based on a single-propulsion full-vector actuator provided in this disclosure, the transmission gear set is a reduction transmission gear set.

[0014] In at least one embodiment of the present disclosure, an underwater rescue platform based on a single-propulsion full-vector actuator is provided, wherein the reduction transmission gear set includes an input gear, a first-stage reduction driven wheel, a driving bevel gear, a driven bevel gear, an output gear, and a support.

[0015] The input gear is fixedly connected to the output end of the azimuth servo motor, and the input gear meshes with the first-stage reduction driven wheel.

[0016] The bracket is provided with a connecting shaft, which is rotatably connected to the bracket. The first-stage reduction driven wheel and the driving bevel gear are both fixedly connected to the connecting shaft. The central axis of the first-stage reduction driven wheel, the central axis of the driving bevel gear and the central axis of the connecting shaft coincide.

[0017] A rotating shaft is provided inside the cabin, and the rotating shaft is rotatably connected to the cabin. The driven bevel gear and the output gear are both fixedly connected to the rotating shaft. The central axis of the rotating shaft, the central axis of the driven bevel gear, and the central axis of the output gear coincide.

[0018] The driving bevel gear meshes with the driven bevel gear, and the diameter of the driving bevel gear is smaller than the diameter of the driven bevel gear.

[0019] The output gear meshes with the rotary gear, and the diameter of the output gear is smaller than the diameter of the rotary gear.

[0020] In at least one embodiment of the present disclosure, an underwater rescue platform based on a single-propulsion full-vector actuator is provided, wherein the diameter of the nozzle is larger than the diameter of the underwater thruster.

[0021] In at least one embodiment of the underwater rescue platform based on a single-propulsion full-vector actuator provided in this disclosure, the input gear, the first-stage reduction driven wheel, the driving bevel gear, the driven bevel gear, the output gear, and the rotary gear have the following numbers of teeth respectively: , , , , and azimuth transmission ratio for: .

[0022] In at least one embodiment of the present disclosure, an underwater rescue platform based on a single-propulsion full-vector actuator is provided, wherein the azimuth servo motor and the pitch servo motor are horizontally opposite each other.

[0023] In at least one embodiment of the underwater rescue platform based on a single-propulsion full-vector actuator provided by this disclosure, the central axis of the rotating shaft is parallel to the central axis of the rotary transmission shaft.

[0024] The central axis of the rotary drive shaft coincides with the central axis of the cabin.

[0025] This invention also provides a control method for an underwater rescue platform based on a single-propulsion full-vector actuator, comprising the following steps: A nonlinear disturbance observer is used to estimate the lumped disturbances generated by modeling errors and external complex environmental forces in real time, and the disturbances are injected into the controller in the form of feedforward compensation. By constructing a sliding surface based on the body dynamics model, a reaching law with an adaptive smooth switching mechanism is designed to ensure that the control flutter caused by frequent directional adjustments of a single thrust source is effectively suppressed during the convergence of the system state toward the sliding surface, thereby achieving control.

[0026] The beneficial effects of this invention are as follows: 1) It adopts a spherical full-vector thrust system, which enables the chassis to generate thrust at any angle in space without changing the platform orientation, greatly improving obstacle avoidance and precise docking capabilities in complex rescue environments.

[0027] 2) A compact gear reduction and reversing integrated transmission chain is adopted, which can greatly reduce the size of the azimuth adjustment mechanism while ensuring a large transmission ratio (high torque output), leaving ample space for the battery and control electronics. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a view of an underwater rescue platform based on a single-propulsion full-vector actuator according to the present invention.

[0030] Figure 2 This is a perspective view of an underwater rescue platform based on a single-propulsion full-vector actuator according to the present invention.

[0031] Figure 3 This is a schematic diagram showing the distribution of the azimuth servo motor, pitch servo motor, and transmission gear set.

[0032] Figure 4 This is a schematic diagram of the transmission gear set.

[0033] Figure 5 This is a structural diagram of the lifting platform.

[0034] Figure 6 This is a schematic diagram of the multi-level coordinate system constructed in the embodiment.

[0035] In the picture: 10. Lifting platform; 11. Rotary drive shaft; 12. Rotary gear; 20. Hull; 21. Spray nozzle; 22. Bearing transmission assembly; 23. Shaft; 30. Azimuth servo motor; 40. Transmission gear set; 41. Input gear; 42. First-stage reduction driven gear; 43. Driving bevel gear; 44. Driven bevel gear; 45. Output gear; 46. Support; 47. Connecting shaft; 50. Pitch angle servo motor; 60. Pitch drive shaft; 70. Underwater propulsion device. Detailed Implementation

[0036] The technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments, not all embodiments.

[0037] Example like Figures 1 to 5 As shown, this embodiment provides an underwater rescue platform based on a single-propulsion full-vector actuator, including a lifting platform 10, a cabin 20, an azimuth servo motor 30, a transmission gear set 40, a pitch servo motor 50, a pitch drive shaft 60, and an underwater thruster 70.

[0038] Specifically, the hull 20 is equipped with a nozzle 21 and a bearing transmission assembly 22. The azimuth servo motor 30 and the pitch servo motor 50 are both fixedly connected to the hull 20. The underwater thruster 70 is located at the nozzle 21, and the diameter of the nozzle 21 is larger than the diameter of the underwater thruster 70.

[0039] Specifically, a rotary drive shaft 11 is provided on the lifting platform 10. One end of the rotary drive shaft 11 is fixedly connected to the lifting platform 10, and a rotary gear 12 is fixedly provided on the other end of the rotary drive shaft 11.

[0040] Specifically, the rotary drive shaft 11 is rotatably connected to the cabin 20 via the bearing drive assembly 22, and the rotary gear 12 is located inside the cabin 20.

[0041] Specifically, the azimuth servo motor 30 and the rotary gear 12 are linked through the transmission gear set 40. The azimuth servo motor 30 drives the hull 20 to rotate, achieving 360° continuous rotation, allowing the nozzle of the underwater thruster 70 to cover the full elevation angle range from vertically downward to vertically upward. In conjunction with the rotation of the azimuth angle, the thruster can spray fluid in any direction in the underwater hemispherical space.

[0042] Specifically, the output end of the pitch angle servo motor 50 is fixedly connected to one end of the pitch drive shaft 60, and the other end of the pitch drive shaft 60 is fixedly connected to the underwater thruster 70.

[0043] In this embodiment, the transmission gear set 40 is a reduction transmission gear set.

[0044] Specifically, the reduction gear set 40 includes an input gear 41, a first-stage reduction driven gear 42, a driving bevel gear 43, a driven bevel gear 44, an output gear 45, and a support 46.

[0045] Specifically, the input gear 41 is fixedly connected to the output end of the azimuth servo motor 30, and the input gear 41 meshes with the first-stage reduction driven gear 42. Power is transmitted from the input gear 41 to the first-stage reduction driven gear, completing the initial torque amplification.

[0046] Specifically, a connecting shaft 47 is provided on the bracket 46, and the connecting shaft 47 is rotatably connected to the bracket 46. The first-stage reduction driven wheel 42 and the driving bevel gear 43 are both fixedly connected to the connecting shaft 47, so that the rotational power can be turned 90° from the horizontal axis to the vertical axis. The central axis of the first-stage reduction driven wheel 42, the central axis of the driving bevel gear 43 and the central axis of the connecting shaft 47 coincide.

[0047] Specifically, a rotating shaft 23 is provided inside the cabin 20. The rotating shaft 23 is rotatably connected to the cabin 20. The driven bevel gear 44 and the output gear 45 are both fixedly connected to the rotating shaft 23. The central axis of the rotating shaft 23, the central axis of the driven bevel gear 44, and the central axis of the output gear 45 coincide.

[0048] Specifically, the driving bevel gear 43 meshes with the driven bevel gear 44, and the diameter of the driving bevel gear 43 is smaller than the diameter of the driven bevel gear 44.

[0049] Specifically, the output gear 45 meshes with the rotary gear 12, and the diameter of the output gear 45 is smaller than the diameter of the rotary gear 12.

[0050] In this embodiment, the input gear 41, the first-stage reduction driven gear 42, the driving bevel gear 43, the driven bevel gear 44, the output gear 45, and the rotary gear 12 have the following numbers of teeth respectively: , , , , and azimuth transmission ratio for: .

[0051] The input gear 41, the first-stage reduction driven wheel 42, the driving bevel gear 43, the driven bevel gear 44, the output gear 45, and the rotary gear 12 are designed with a high transmission ratio to achieve extremely high resolution angle compensation, ensuring accurate alignment of the course in complex water flow environments.

[0052] In this embodiment, the azimuth servo motor 30 and the pitch servo motor 50 are horizontally opposite each other.

[0053] In this embodiment, the central axis of the rotating shaft 23 is parallel to the central axis of the rotary transmission shaft 11; the central axis of the rotary transmission shaft 11 coincides with the central axis of the cabin 20.

[0054] To address the sudden changes in center of gravity and complex ocean current disturbances caused by abrupt load increases during water lifting and rescue operations, this invention designs a nonlinear disturbance observer (NDO) based on the definition of auxiliary variables, which achieves real-time smooth estimation and feedforward compensation of the total system disturbance without the participation of an accelerometer.

[0055] To address the problem of control chattering caused by high-frequency switching during vector correction in traditional sliding mode control, this invention designs a control method based on the hyperbolic tangent function. The smooth switching control term, along with the simplified omission adaptive gain law, enables rapid convergence of pose tracking error within a finite time and effectively suppresses the mechanical oscillation of the precision servo motor.

[0056] The following describes a sliding mode pose control method for an underwater rescue platform based on nonlinear disturbance observation compensation in an embodiment.

[0057] To address the strong nonlinearity, high coupling, and underactuated characteristics of surface rescue platforms under lifting load conditions, this invention proposes a composite control scheme integrating disturbance prediction and dynamic compensation. This method first utilizes a nonlinear disturbance observer to perform real-time online estimation of lumped disturbances generated by modeling errors and complex external environmental forces, injecting these disturbances into the controller in the form of feedforward compensation. A sliding mode surface is constructed based on the body dynamics model, and a reaching law with an adaptive smooth switching mechanism is designed. This aims to effectively suppress control chatter caused by frequent directional adjustments from a single thrust source during the system state convergence towards the sliding mode surface, thereby achieving robust and precise control of the rescue platform's six degrees of freedom posture.

[0058] Error definition, sliding surface and control law design: Definition of the first Tracking error per degree of freedom Actual state With the expected state Difference: (8); Meanwhile, the time derivative (velocity error) is .

[0059] To achieve gradual stabilization of errors and avoid mission failure due to large movements in water, this invention designs a sliding mold surface as follows. : (10); In the formula, For the first Sliding mode variables with degrees of freedom; For the first The error gain of the degrees of freedom determines the convergence rate of the system on the sliding surface. At that time, the error It tends towards 0 in an exponential manner.

[0060] Combining the platform's six-degree-of-freedom dynamic equations with the disturbance observer compensation mechanism, a full-link composite control law is constructed: (11); In the formula, For the first The degrees of freedom are based on the equivalent terms of the dynamic model, and their function is to ensure that the system moves on the sliding surface; For the first The function of the degree-of-freedom adaptive smooth switching control term is to enable the system to converge quickly from the starting point to the sliding surface. For the first Compensation feedforward term for the No-degree-of-freedom perturbation observer (NDO).

[0061] Nonlinear Disturbance Observer (NDO) Design: During water-based rescue operations, the sudden changes in the load's center of gravity and the effects of external environmental forces are modeled as disturbances. To reconstruct these disturbances without directly using accelerometers (to avoid noise interference), this invention designs a nonlinear observer.

[0062] 1) Definition of observation target Rewrite the dynamic model in second-order state-space form: (12); In the formula, This represents the combined disturbance vector of position dynamics modeling error and external environmental forces; This represents the combined disturbance vector of attitude dynamics modeling error and external environmental forces.

[0063] 2) Auxiliary variables , Introduction of: Because of direct differentiation , This will introduce significant high-frequency noise; define the observer auxiliary variable. , : (13); In the formula, , This is the estimated value of the disturbance; , It is a positive definite observation gain matrix; To make the estimation error As the equations approach zero, let the observer's dynamic equations be: (14); Assuming the system disturbance changes slowly, that is Simplifying, we get: (15); Differentiating equation (13) and substituting it into equation (15) yields: (16); Substituting the dynamic equation (12) into the derivative equation (16) above, the inability to be directly measured can be eliminated. , The execution equations of the NDO are obtained as follows: (17); At this point, the estimation error satisfies This ensures that the estimated value converges exponentially to the true perturbation in a finite time; we only need to find the solution. , Then the disturbance estimate can be obtained.

[0064] The specific compensation logic of this invention is to estimate the The control law is introduced directly in the form of a feedforward term. To counteract environmental interference.

[0065] Design of equivalent control terms based on dynamic model: To describe the platform's position, attitude, and the mapping relationship between the thruster thrust vectors in space, it is first necessary to construct a multi-level coordinate system, such as... Figure 6 As shown.

[0066] 1) Inertial coordinate system (World frame) Used to describe the absolute track of a rescue platform under the Global Positioning System.

[0067] 2) Body coordinate system The origin is chosen at the geometric center of the platform, which is also the geometric center of the top fixed support platform [1]. In equilibrium, Pointing forward, Pointing to starboard, The axis points vertically to the bottom of the water.

[0068] 3) Thrust vector coordinate system This coordinate system is equivalent to the body coordinate system. Along negative translation distance And thrust The direction is always along the thruster axis.

[0069] The kinematic model describes the velocity vector in the body coordinate system. Rate of pose change in world coordinate system Geometric relationship: Position kinematics: (2); In the formula, Let be the derivative of the three-dimensional position in the inertial frame, where This is the matrix transpose. It is a linear velocity vector, containing the forward, lateral, and vertical velocities of the chassis in the inertial coordinate system.

[0070] Posture kinematics: (3); In the formula, The derivatives of the platform's roll, pitch, and yaw angles (Euler angles) in the inertial coordinate system; This is the angular rate transformation matrix; The angular velocity of the three axes of the machine body.

[0071] Position dynamics: For underwater environments, the difference between added mass and buoyancy must be considered: (4); In the formula, The total mass matrix, For rigid body mass, Add a mass matrix underwater; This is the component of gravity; buoyancy component ( For the density of water, (This refers to the drainage volume). For fluid resistance This refers to the thrust components generated by the propeller along the three axes.

[0072] Attitude dynamics: The equations describing how the torque generated by thrust deflection changes attitude are as follows: (5); In the formula, This is the rotational inertia matrix, which includes the rigid body inertia and the hydrodynamic inertia. The corrective torque generated by the full vector thruster; For static restoring moment, from the center of gravity With floating heart Non-overlapping generation; The external disturbance torque is mainly generated by fluid disturbance and load sloshing.

[0073] Thrust vector mapping: Let the total thrust generated by the full vector thruster be The azimuth angle controlled by the azimuth servo motor is The pitch angle controlled by the pitch angle servo motor is Thrust vector Three components in body coordinate system It can be obtained from the following transformation formula: (6); Because the thruster's installation position is relative to the center of the fuselage There is a lever arm offset The control torque generated by the thruster for: (7); By adjusting and The system can decouple and generate instantaneous force tendency in six degrees of freedom, which has significant flexibility in underactuated system control.

[0074] The design of the equivalent control term aims to precisely offset the inherent dynamic characteristics of the platform position and attitude channel, so that the system exhibits ideal linear convergent dynamics on the sliding surface.

[0075] Position control equivalent control terms (height and horizontal displacement control): According to the position dynamics equation (4), we can obtain: (18); The equivalent control term for position control is: (19); In the formula, The desired triaxial acceleration; No. Error gain of degrees of freedom.

[0076] Equivalent control term for attitude control (lifting attitude maintenance control): According to the attitude dynamics equation (5), we can obtain: (20); The equivalent control term for attitude control is designed as follows: (twenty one); In the formula, The desired triaxial angular acceleration; No. Error gain of degrees of freedom.

[0077] Design of adaptive smooth switching items: In response to the complex underwater environment and real-time computing power constraints of the rescue platform, and to effectively suppress control chattering, avoid surface ripple deterioration and impact caused by large maneuvers, while improving the controller convergence speed and steady-state accuracy, this invention proposes a variable-speed nonlinear saturation reaching law (VN-SRL): (twenty two); In the formula, For the first Degrees of freedom of sliding surface variables; This is an adaptive correction term used to adjust the observer residuals. The dynamic compensation has an update rate of ,in For adaptive gain coefficients and The coefficient for missing terms; For the coefficients of the variable speed approach term; For the power of the variable-speed approach term, satisfying ; The smoothing bandwidth coefficient determines the width of the smooth transition interval near zero. It is a hyperbolic tangent function, which enables a continuous and smooth transition of the control input and suppresses chattering; Compared to traditional sliding mode control that relies on hard switching functions The present invention proposes a variable-speed nonlinear saturation reaching law (VN-SRL) through... A smooth switching mechanism eliminates high-frequency jumps in control input, significantly suppresses servo motor chatter, and protects underwater precision transmission mechanisms; simultaneously, an adaptive correction term is designed. By updating the law to dynamically compensate the observer residuals and suppress gain drift, robustness in complex underwater environments is enhanced. Rescue platform pose controller: Since this platform is an underactuated system, it adopts an inner and outer loop control structure, specifically divided into two layers: Position control law (outer loop): (twenty three); In the formula, The desired resultant force across the three axes of the driving platform.

[0078] Attitude control law (inner loop): (twenty four); In the formula, To drive the platform's three-axis desired torque and ensure the stability of the rescue platform.

[0079] Control assignment – ​​Full vector underactuated decoupling mapping: The core task of the control power distribution system is to generate the desired control vector output by the control algorithm. Real-time mapping to three independent control quantities of the physical actuator: total thrust scalar of the thruster Azimuth angle of the left servo motor and the pitch angle of the right servo motor .

[0080] Decoupling of control quantities and synthesis of virtual forces: Attitude correction force composition: Based on the mapping relationship between torque and thrust components in formula (7), calculate the compensation force required to maintain the platform's lifting surface level. : (25); In the formula, In order to be in The required compensating force for the shaft; In order to be in The compensating force required by the shaft.

[0081] Triaxial combined force requirements: The translational driving force output from the outer position loop is vector-superimposed with the aforementioned self-balancing correction force to obtain the final command component force under the machine system. : (26); Inverse kinematics mapping of physical actuators: Based on the inverse operation of formula (6), the command force is divided. The three core control variables mapped to the underlying hardware are: total thrust scalar. Azimuth (Left-side servo) and pitch angle (Right-side server): Thruster Desired Total Thrust Command (Mapped to RPM): (27); Orientation servo control commands (around) axis): (28); Pitch servo control commands (around) axis): (29); Although embodiments of this application have been shown and described above, the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be conceived without inventive effort should be covered within the scope of protection of this invention. Unless expressly stated otherwise, no element, action or instruction used herein should be construed as critical or necessary.

Claims

1. An underwater rescue platform based on a single-propulsion full-vector actuator, characterized in that, include: Lifting platform, hull, azimuth servo motor, transmission gear set, pitch servo motor, pitch drive shaft and underwater thruster; The cabin is equipped with a nozzle and a bearing transmission assembly, and the azimuth servo motor and the pitch servo motor are both fixedly connected to the cabin. The lifting platform is provided with a rotary drive shaft, one end of which is fixedly connected to the lifting platform, and the other end of which is fixedly provided with a rotary gear. The rotary drive shaft is rotatably connected to the cabin body via the bearing drive assembly, and the rotary gear is located inside the cabin body; The azimuth servo motor and the rotary gear are linked through the transmission gear set to drive the cabin to rotate; The output end of the pitch angle servo motor is fixedly connected to one end of the pitch drive shaft, and the other end of the pitch drive shaft is fixedly connected to the underwater thruster. The underwater thruster is located at the nozzle.

2. The underwater rescue platform based on a single-propulsion full-vector actuator according to claim 1, characterized in that, The transmission gear set is a reduction transmission gear set.

3. An underwater rescue platform based on a single-propulsion full-vector actuator according to claim 2, characterized in that, The reduction gear set includes an input gear, a first-stage reduction driven gear, a driving bevel gear, a driven bevel gear, an output gear, and a support. The input gear is fixedly connected to the output end of the azimuth servo motor, and the input gear meshes with the first-stage reduction driven wheel; The bracket is provided with a connecting shaft, which is rotatably connected to the bracket. The first-stage reduction driven wheel and the driving bevel gear are both fixedly connected to the connecting shaft. The central axis of the first-stage reduction driven wheel, the central axis of the driving bevel gear, and the central axis of the connecting shaft coincide. A rotating shaft is provided inside the cabin, and the rotating shaft is rotatably connected to the cabin. The driven bevel gear and the output gear are both fixedly connected to the rotating shaft. The central axis of the rotating shaft, the central axis of the driven bevel gear, and the central axis of the output gear coincide. The driving bevel gear meshes with the driven bevel gear, and the diameter of the driving bevel gear is smaller than the diameter of the driven bevel gear; The output gear meshes with the rotary gear, and the diameter of the output gear is smaller than the diameter of the rotary gear.

4. An underwater rescue platform based on a single-propulsion full-vector actuator according to claim 1, characterized in that, The diameter of the nozzle is larger than the diameter of the underwater thruster.

5. An underwater rescue platform based on a single-propulsion full-vector actuator according to claim 3, characterized in that, The input gear, first-stage reduction driven gear, driving bevel gear, driven bevel gear, output gear, and rotary gear have the following numbers of teeth respectively: , , , , and azimuth transmission ratio for: 。 6. An underwater rescue platform based on a single-propulsion full-vector actuator according to claim 1, characterized in that, The azimuth servo motor and the pitch servo motor are horizontally opposite each other.

7. An underwater rescue platform based on a single-propulsion full-vector actuator according to claim 3, characterized in that, The central axis of the rotating shaft is parallel to the central axis of the rotary transmission shaft; The central axis of the rotary drive shaft coincides with the central axis of the cabin.

8. A control method for an underwater rescue platform based on a single-propulsion full-vector actuator as described in any one of claims 1-7, characterized in that, Includes the following steps: A nonlinear disturbance observer is used to estimate the lumped disturbances generated by modeling errors and external complex environmental forces in real time, and the disturbances are injected into the controller in the form of feedforward compensation. By constructing a sliding mode surface based on the body dynamics model, a convergence law with an adaptive smooth switching mechanism is designed to ensure that the control flutter caused by the frequent directional adjustment of the single thrust source of the underwater thruster is effectively suppressed during the convergence of the system state to the sliding mode surface, thereby achieving control.

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