A method and system for navigation control of a multi-surface underwater platform

Abstract

This invention discloses a navigation control method and system for a multi-control-face underwater platform, relating to the field of underwater platform control. The method includes: establishing a three-degree-of-freedom motion model of the underwater platform's depth, pitch, and heading; decomposing the model into multiple subsystems for control design, resulting in a heading control subsystem, a depth control subsystem, a vertical rate and pitch control subsystem, and a control allocation subsystem; and compensating and correcting the expected values ​​of the heading and depth control subsystem outputs; acquiring the current effective depth, pitch, and heading information of the underwater platform; and, combining this with predefined depth, pitch, and heading information, calculating the expected command rudder angles for the bow rudder and X-shaped stern rudder in the corresponding subsystems. This method improves control performance by decomposing the complex multi-input / output control system into multiple simpler subsystems, reducing the coupling between system inputs and outputs, and compensating and correcting for saturation conditions based on the maximum control quantity actually generated by the rudder.

Description

Technical Field

[0001] This invention relates to the field of underwater platform control, and in particular to a navigation control method and system for a multi-control-face underwater platform. Background Technology

[0002] Underwater platforms are typically equipped with control surfaces such as bow elevators, stern elevators, and rudders to control their depth, trim, and heading. With increasing maneuverability requirements, more and more underwater platforms are adopting X-shaped stern rudders to replace the original stern elevators and rudders. For multi-control surface underwater platforms equipped with bow elevators and X-shaped stern rudders, the number of control surfaces increases significantly, increasing the coupling between the underwater platform's inputs and outputs and introducing greater complexity to the control system design, especially in handling rudder angle saturation. Furthermore, how to leverage the combined advantages of multiple control surfaces is crucial. Traditionally, for underwater platforms with multiple control surfaces, they typically switch to zero trim and parallel depth control after approaching a designated depth. However, under conditions of large disturbances such as load variations and density changes, the vertical force generated by the control surfaces is insufficient to overcome the disturbance, causing the speed to decrease and even preventing the platform from reaching the designated depth, thus reducing the underwater platform's navigation efficiency. Summary of the Invention

[0003] To address the aforementioned problems and technical requirements, the inventors have proposed a navigation control method and system for underwater platforms with multiple control surfaces. The technical solution of this invention is as follows:

[0004] In a first aspect, this application provides a navigation control method for a multi-control-face underwater platform, comprising the following steps: A three-degree-of-freedom motion model of the underwater platform for depth, pitch, and heading is established. The model is decomposed into multiple subsystems for control design, resulting in a heading control subsystem, a depth control subsystem, a vertical rate and pitch control subsystem, and a control distribution subsystem. The expected values ​​of the outputs of the heading control subsystem and the depth control subsystem are compensated and corrected. The system acquires the current effective depth, trim, and heading information of the underwater platform. Combined with the set depth, trim, and heading information, it calculates the desired command rudder angles for the bow rudder and X-shaped stern rudder in the corresponding subsystems.

[0005] Secondly, this application also provides a navigation control system for a multi-control-face underwater platform, wherein the rudder system of the underwater platform includes a bow rudder and an X-shaped stern rudder. The system is arranged in the underwater platform and includes: an integrated control unit, two depth gauges, an attitude sensor, an RS485 communication bus, a CAN communication bus, and an Ethernet. The integrated control unit is connected to the depth gauge and attitude sensor via an RS485 communication bus to obtain the current effective depth, pitch and heading information of the underwater platform; The integrated control unit is connected to the drivers of the bow rudder and the X-shaped stern rudder via both CAN communication bus and Ethernet communication links. It is used to run the multi-control surface underwater platform navigation control method described in the first aspect, distribute the calculated desired command rudder angles of the bow rudder and the X-shaped stern rudder to the corresponding drivers of the rudder system through one effective communication link, and obtain rudder status information.

[0006] The beneficial technical effects of this invention are: (1) By introducing virtual quantities to reconstruct the state equations and decomposing the complex multi-input-output control system into multiple simple subsystems, the coupling between system inputs and outputs is reduced, and the maximum control quantity that the rudder can actually generate is calculated by the control allocation subsystem to perform compensation correction under saturation conditions, thereby improving control performance.

[0007] (2) A disturbance-based pitching depth-changing method is adopted. When the depth is near the commanded depth, the pitching angle is switched to a specific pitch angle according to the external disturbance. The depth velocity component generated by the pitching is used to directly offset the vertical velocity generated by the disturbance, thereby improving the depth-changing efficiency in the actual marine environment while ensuring the depth control overshoot.

[0008] (3) By sacrificing vertical rate in the control method, the control performance of heading and pitch is guaranteed, which is more conducive to the control capability of the underwater platform in terms of depth and horizontal position, and at the same time improves the safety of navigation. In addition, by combining the theoretical calculation method based on motion model and the comprehensive identification of faulty sensors by dual sensor measurement data, accurate effective depth information can be obtained, thereby improving the accuracy of the expected command rudder angle of the subsequent calculation rudder system. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the navigation control system for a multi-control-face underwater platform provided in this application; Figure 2 This is a flowchart of the navigation control method for a multi-control-face underwater platform provided in this application; Among them: 101-Integrated control unit, 1021 and 1022-Two depth gauges, 103-Attitude sensor, 104-RS485 communication bus, 105-CAN communication bus, 106-Ethernet, 201-Underwater platform, 202-Bow rudder, 203-X-type stern rudder. Detailed Implementation

[0010] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0011] Please refer to Figure 1As shown, one embodiment of this application provides a multi-control-face underwater platform navigation control system, wherein the rudder system of the underwater platform 201 includes a bow rudder (elevator) 202 and an X-shaped stern rudder 203, and the X-shaped stern rudder 203 includes four independently rotatable rudder surfaces. The system is arranged in the underwater platform 201 and includes: an integrated control unit 101, two depth gauges 1021 and 1022, an attitude sensor 103, an RS485 communication bus 104, a CAN communication bus 105, and an Ethernet 106.

[0012] The integrated control unit 101 is connected to depth gauges 1021 and 1022 and attitude sensor 103 via RS485 communication bus 104 to acquire navigation status information of the underwater platform, including current effective depth, pitch, and heading information. The integrated control unit 101 is also connected to the actuators of the bow rudder 202 and X-shaped stern rudder 203 via two communication links: CAN communication bus 105 and Ethernet 106. This allows it to run a multi-control-face underwater platform navigation control method, distributing the calculated desired command rudder angles of the bow rudder 202 and X-shaped stern rudder 203 to the corresponding actuators of the rudder system through one effective communication link (CAN communication bus 105 or Ethernet 106), and acquiring rudder status information to achieve controllable navigation.

[0013] Based on the aforementioned multi-controllable surface underwater platform navigation control system, one embodiment of this application also provides a multi-controllable surface underwater platform navigation control method, combined with... Figure 2 As shown, it specifically includes the following: Step 2: In the integrated control unit 101, establish a three-degree-of-freedom motion model of the underwater platform's depth, pitch, and heading. Decompose the model into multiple subsystems and design control for each, resulting in a heading control subsystem, a depth control subsystem, a vertical rate and pitch control subsystem, and a control distribution subsystem.

[0014] Step 4: Compensate and correct the expected values ​​output by the heading control subsystem and the depth control subsystem.

[0015] The integrated control unit 101 uses a fixed cycle for platform navigation control, and the following control procedure must be executed at the arrival of each control cycle: Step 6: Obtain the current effective depth, trim, and heading information of the underwater platform. Combine this information with the set depth, trim, and heading information and input it into the corresponding subsystems to calculate the desired command rudder angles for the bow rudder and the X-shaped stern rudder.

[0016] Step 8: The integrated control unit 101 sends the desired command rudder angles of the bow rudder 202 and the X-type stern rudder 203 to the rudder system via the CAN communication bus 105, and determines whether the transmission is normal. If the CAN bus transmission fails, an alarm is issued, and the desired command rudder angle is transmitted via Ethernet 106. If the Ethernet transmission also fails, an emergency alarm is issued.

[0017] In one possible implementation, step 2, establishing a three-degree-of-freedom motion model of the underwater platform's depth, pitch, and heading, includes: First, the three-degree-of-freedom motion model of the underwater platform's depth, pitch, and heading is established as follows: (1) in, i and ψ These represent the pitch angle and heading angle of the underwater platform, respectively. u and w These represent the longitudinal and vertical speeds of the underwater platform, respectively. Generally, the longitudinal speed of an underwater platform during navigation... u Approximately unchanged; q and r These represent the pitch and roll angular velocities of the underwater platform, respectively. or It refers to the underwater depth of the platform; This represents the rudder angle value of the bow rudder surface. The rudder angle value for each rudder surface of the X-type stern rudder; a ij (i=1,2,3;j=1,2,3,4,5,6,7,8) represent the known motion model parameters of the underwater platform, which are related to the shape characteristics of the underwater platform. Generally, after the platform shape design is completed, the relevant parameters can be obtained through finite element simulation calculation or water tank test.

[0018] Virtual control variables are introduced into the original three-degree-of-freedom motion model (1) to reduce the coupling between the input and output of the underwater platform and simplify the complexity of model analysis and design. The transformed three-degree-of-freedom motion model is then expressed as: (2) in, d w and d q and d r The introduced virtual control quantity satisfies: (3) In one possible implementation, step 2 further separates the horizontal and vertical control of the underwater platform, and introduces a cascade control concept into the vertical control, that is, decomposing model (2) into a heading control subsystem (corresponding to the horizontal plane), a depth control subsystem, and a vertical rate and pitch control subsystem (corresponding to the vertical plane), while model (3) corresponds to the control allocation subsystem. The control design of each subsystem is as follows: (1) The design and compensation process of the heading control subsystem includes: The controlled object of the heading control subsystem obtained through decomposition is as follows: (4) Using S-plane control, the control law for the heading control subsystem can be obtained as follows: (5) in, k r1 and k r2 Design parameters for S-surface control; d dr It is the expected value of the virtual control quantity calculated and output by the heading control subsystem; d rmax It is the maximum parameter value set for the virtual variable; The heading angle deviation is calculated based on equation (6): (6) in, P d It is the set heading angle. P It is the measured current heading angle of the underwater platform; P c This is a compensation correction to the heading angle design to mitigate the adverse effects on heading control under rudder saturation conditions. In this embodiment, a transfer function design is used. P c The calculation is as follows: (7) in, K r and T r These are the scaling factor designed for the heading angle and the time constant of the low-pass filter, respectively. The maximum virtual control value expected by the rudder system in the control distribution subsystem is calculated, which is the maximum virtual rudder angle that the rudder can actually generate, and is obtained by equation (26) in step (4).

[0019] (2) The design and compensation process of the deep control subsystem includes: The controlled objects of the deep control subsystem obtained through decomposition are as follows: (8) Because underwater platforms are generally considered to have a longitudinal velocity during navigation. u Approximately unchanged. At this point, depth control is mainly determined by the pitch angle and vertical rate, so the depth control subsystem mainly calculates the expected values ​​of the output pitch angle and vertical rate.

[0020] a) Calculation of Desired Pitch Angle: When the underwater platform's depth deviates significantly from the set depth, the set pitch angle must be maintained at a certain safe pitch angle for rapid depth increase. When the underwater platform's depth deviates slightly from the set depth, a specific pitch angle can be switched based on external disturbances to improve depth control efficiency. Simultaneously, to mitigate the adverse effects of rudder saturation on pitch control, the desired pitch angle needs to be compensated and corrected. Ultimately, the desired pitch angle of the underwater platform is... i d This can be expressed using the following piecewise function: (9) in, or d It is the set depth value. or This is the measured current effective depth of the underwater platform; or dead It is the set threshold parameter; i set It is the set safety pitch angle; i c1 To calculate the specific pitch angle to be compensated based on the real-time disturbance estimate of the external vertical force experienced by the underwater platform, equation (10) is used to... i c1 Solve the following: (10) in, It is a real-time estimate of the external vertical force disturbances experienced by an underwater platform using a mature disturbance observer method.

[0021] i c2 This is a compensation correction to the desired pitch angle design to reduce rudder saturation. In this embodiment, a transfer function design is used. i c2 The calculation is as follows: (11) in, K c and T cThese are the scaling factor designed for the desired pitch angle and the time constant of the low-pass filter, respectively. d dq The expected value of the virtual control quantity output by the vertical rate and pitch control subsystem can be calculated with reference to equation (17); The maximum value of the virtual control quantity expected by the rudder system in the control distribution subsystem can be calculated with reference to equation (26).

[0022] b) Calculation of Desired Vertical Rate: When the underwater platform's depth approaches the commanded depth, its pitch remains approximately zero. At this point, precise depth control can be achieved by adjusting the vertical rate. An S-plane control is used to design the depth control law in the outer loop, and a compensation amount is added to the design to mitigate the rudder saturation effect. Therefore, the desired value of the vertical rate of the underwater platform designed using S-plane control in this embodiment is... w d Expressed as: (12) in, k w1 and k w2 Design parameters for S-surface control; w max It is the set maximum vertical speed parameter value; Depth deviation is represented as: (13) w c This is a compensation correction to the desired vertical speed design to reduce rudder saturation. In this embodiment, a transfer function design is used. w c The calculation is as follows: (14) in, K w and T w These are the scaling factor designed for the desired vertical velocity and the time constant of the low-pass filter, respectively. d dw The expected value of the virtual control quantity output by the vertical rate and pitch control subsystem can be calculated with reference to equation (17); The maximum value of the virtual control quantity expected by the rudder system in the control distribution subsystem can be calculated with reference to equation (26).

[0023] (3) The design process of the vertical rate and pitch control subsystem includes: The controlled objects of the vertical velocity and pitch control subsystems obtained through decomposition are as follows: (15) Vertical rate control error and pitch control error The integral is added to the state variable x k By augmenting equation (15), we obtain: (16) By employing an infinite-time output optimal regulator for control law design, the expected values ​​of the virtual control quantities calculated from the vertical rate and pitch control subsystems are obtained. d dw and d dq for: (17) in, (18) (19) Let be a symmetric positive definite matrix and satisfy the following algebraic Riccati equation: (20) in, and Let be a set of symmetric positive semi-definite matrices, representing the weights of the state and control inputs, respectively. The linearized state matrix of equation (16) is as follows: (twenty one) (4) The design process of the control and distribution subsystem includes: virtual control quantity d w and d q and d r The expression (3) is used as the controlled object of the control allocation subsystem obtained by decomposition. The desired rudder angles of the bow rudder and the X rudder can be obtained by using pseudo-inverse operation on the control allocation of the equation (3), but the rudder saturation makes it difficult to achieve the ideal control effect for the depth and attitude of the underwater platform. Therefore, based on the conventional pseudo-inverse method, this application determines a set of rudder angle commands that are more conducive to the control effect of the underwater platform. Considering that the attitude has a greater impact on safety during navigation, and that attitude fluctuations will inevitably cause position fluctuations, attitude control accuracy should be prioritized in determining the rudder angle commands. In this embodiment, a weighting coefficient is introduced in the control allocation and the control allocation equation is designed as follows: (twenty two) Where, 0≤ p 1, p 2,p 3≤1 represents the weight coefficient to be optimized.

[0024] , (twenty three) By solving the optimal p 1, p 2 and p 3. The desired control allocation result can then be obtained. In one possible implementation, the solution process includes: considering that the pitch control requirements and heading control requirements of the underwater platform are equally important and far greater than the vertical rate control requirements, setting constraints can better reflect the control effect. Therefore, the design... p 1, p 2 and p The objective function for the parameter optimization problem of 3 is: (twenty four) in, N To set parameters, N >>1. The constraints of this optimization problem are: (25) in, This is the maximum rudder angle value of the bow rudder surface. This represents the maximum rudder angle value for each control surface of the X-shaped stern rudder, and the four control surfaces are generally identical; finally, the optimal solution is obtained using linear programming. p 1max , p 2max , p 3max ,and p 2max = p 3max .

[0025] Furthermore, based on the optimal weight coefficient p 1max , p 2max , p 3max The expected value of the virtual control quantities output by the heading control subsystem, vertical rate and pitch control subsystem d dr , d dw and d dq To calculate the maximum value of the desired virtual control quantity. , and Represented as: (26) Therefore, the expected commanded rudder angles for the bow rudder and the X-shaped stern rudder can be calculated as follows: (27) In step 6, the integrated control unit 101 can simultaneously obtain the current depth value of the underwater platform measured by the two depth gauges 1021 and 1022. and In practical applications, even if both sensors report normal status feedback, a malfunction in one sensor may cause inaccurate data measurement. Therefore, it is necessary to differentiate the depth information from both sensors to obtain the current effective depth of the underwater platform. The specific method is as follows: (1) Generally, the data from the two sensors should be consistent. Considering sensor error, when the depth deviation between the two sensors does not exceed the set threshold, If both sensor readings are normal, the average of the two depth values ​​is taken as the current effective depth of the underwater platform.

[0026] in The threshold for setting an anomaly detection.

[0027] (2) When the depth deviation between the two paths exceeds the set threshold If a sensor reading is abnormal and unreliable, it indicates that one of the sensors has generated abnormal data. To identify which sensor is malfunctioning, the variance between the real-time depth measurements over a certain time period and the theoretical depth calculated from the model is calculated. The depth value with the smaller variance is then selected as the current effective depth of the underwater platform. The identification method is as follows: 1) Record appears Two depth gauge data points were used, and the average of the two was taken as the current depth of the underwater platform at the time of the anomaly:

[0028] in, and The integrated control unit 101 determines the depth values ​​of the two depth gauges at the moment when the sensor malfunctions.

[0029] 2) Next, the integrated control unit 101 spends one minute identifying sensor anomalies. After determining that a sensor anomaly exists, the integrated control unit 101 continues to collect data from the two depth gauges once per second, respectively... and ,(j=1,2,3…60)。

[0030] 3) While determining that the sensor is abnormal, the integrated control unit 101 calculates the theoretical depth value once per second based on the motion model of the underwater platform (1). The calculation is performed 60 times consecutively. The derivation process for time j+1 is as follows:

[0031] in, and These are the calculated vertical velocity and depth values ​​at time j, where j = 1, 2, 3…60.

[0032] 4) Calculate the variance between the data from the two sensors within the 1-minute interval and the theoretical depth calculated based on the model. Select the sensor with the smaller variance as the normal sensor, and use its data as the valid depth for all subsequent measurements. The variance calculation is as follows:

[0033]

[0034] if > This indicates that depth gauge 1021 is malfunctioning, and subsequent valid depth measurements will only use the depth information from depth gauge 1022. Conversely, only the depth information from depth gauge 1021 is used as the effective depth, i.e. .

[0035] The above descriptions are merely preferred embodiments of this application, and the present invention is not limited to the above embodiments. It is understood that other improvements and variations directly derived or conceived by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included within the protection scope of the present invention.

Claims

1. A navigation control method for a multi-control-face underwater platform, characterized in that, The method includes: A three-degree-of-freedom motion model of the underwater platform for depth, pitch, and heading is established. The model is then decomposed into multiple subsystems for control design, resulting in a heading control subsystem, a depth control subsystem, a vertical rate and pitch control subsystem, and a control distribution subsystem. The expected values ​​output by the heading control subsystem and the depth control subsystem are compensated and corrected. The system acquires the current effective depth, trim, and heading information of the underwater platform. Combined with the set depth, trim, and heading information, it calculates the desired command rudder angles for the bow rudder and X-shaped stern rudder in the corresponding subsystems.

2. The navigation control method for a multi-control surface underwater platform according to claim 1, characterized in that, The establishment of the three-degree-of-freedom motion model for the underwater platform's depth, pitch, and heading includes: By introducing virtual control variables into the original three-degree-of-freedom motion model to reduce the coupling between the input and output of the underwater platform, the transformed three-degree-of-freedom motion model can be expressed as follows: in, δ w and δ q and δ r The introduced virtual control quantity satisfies: in, θ and ψ These represent the pitch angle and heading angle of the underwater platform, respectively. u and w These represent the longitudinal and vertical velocities of the underwater platform, respectively. q and r These represent the pitch and roll angular velocities of the underwater platform, respectively. η It refers to the underwater depth of the platform; a ij The known motion model parameters represent the underwater platform, where i = 1, 2, 3; j = 1, 2, 3, 4, 5, 6, 7, 8; This represents the rudder angle value of the bow rudder surface. This represents the rudder angle value for each rudder surface of the X-type stern rudder.

3. The navigation control method for a multi-control surface underwater platform according to claim 2, characterized in that, The design and compensation process of the heading control subsystem includes: The controlled object of the heading control subsystem obtained through decomposition is as follows: Using S-plane control, the control law of the heading control subsystem is obtained as follows: in, k r1 and k r2 Design parameters for S-surface control; δ dr It is the expected value of the virtual control quantity calculated and output by the heading control subsystem; δ rmax It is the maximum parameter value set for the virtual variable; The heading angle deviation is expressed as: in, Ψ d It is the set heading angle. Ψ This is the measured current heading angle of the underwater platform; Ψ c This is a compensation correction to the heading angle design to reduce rudder saturation.

4. The navigation control method for a multi-control surface underwater platform according to claim 2, characterized in that, The design and compensation process of the depth control subsystem includes: The controlled objects of the deep control subsystem obtained through decomposition are as follows: Let the longitudinal velocity of the underwater platform during its navigation be... u If the approximate values ​​remain unchanged, the depth control subsystem mainly calculates the expected values ​​of the output pitch angle and vertical rate; The expected value of the pitch angle of the underwater platform θ d The following piecewise function can be used to express this: in, η d It is the set depth value. η This is the measured current effective depth of the underwater platform; η dead It is the set threshold parameter; θ set It is the set safety pitch angle; θ c1 To calculate the specific pitch angle to compensate for based on the real-time disturbance estimate of the external vertical force experienced by the underwater platform; θ c2 It is a compensation correction to the desired pitch angle design in order to reduce rudder saturation; The desired value of the vertical rate of the underwater platform is designed using S-plane control. w d Expressed as: in, k w1 and k w2 Design parameters for S-surface control; w max It is the set maximum vertical speed parameter value; w c It is a compensation correction to the desired vertical speed design in order to reduce rudder saturation; Depth deviation is represented as: .

5. The navigation control method for a multi-control surface underwater platform according to claim 4, characterized in that, The method for compensating and correcting the expected values ​​output by the heading control subsystem and the depth control subsystem is the same. For the depth control subsystem, it includes: Design using transfer function θ c2 The calculation is as follows: in, K c and T c These are the scaling factor designed for the desired pitch angle and the time constant of the low-pass filter, respectively. Design using transfer function w c The calculation is as follows: in, K w and T w These are the scaling factor and the time constant of the low-pass filter, respectively, designed for the desired vertical velocity. δ dw and δ dq The expected value of the virtual control quantity output by the vertical rate and pitch control subsystem is calculated. and The maximum value of the expected virtual control quantity of the rudder system is calculated for the output of the control allocation subsystem.

6. The navigation control method for a multi-control surface underwater platform according to claim 2, characterized in that, The design process of the vertical rate and pitch control subsystem includes: The controlled objects of the vertical velocity and pitch control subsystems obtained through decomposition are as follows: Vertical rate control error and pitch control error The integral is added to the state variable x k By employing an infinite-time output optimal regulator for control law design, the expected values ​​of the virtual control quantities calculated from the vertical rate and pitch control subsystems are obtained. δ dw and δ dq for: in, Let be a symmetric positive definite matrix and satisfy the following algebraic Riccati equation: in, and Let be a set of symmetric positive semi-definite matrices, representing the weights of the state and control inputs, respectively; It is the state matrix: 。 7. The navigation control method for a multi-control surface underwater platform according to claim 2, characterized in that, The design process of the control and distribution subsystem includes: virtual control quantity δ w and δ q and δ r The expression is used as the controlled object of the control allocation subsystem obtained by decomposition; To prioritize attitude control accuracy, weighting coefficients are introduced and the control allocation equations are designed as follows: Where, 0≤ p 1, p 2, p 3≤1 represents the weight coefficient to be optimized; ， Based on the optimal weighting coefficients and the expected values ​​of the virtual control quantities output by the heading control subsystem, the vertical rate, and the pitch control subsystem. δ dr , δ dw and δ dq The maximum value of the desired virtual control quantity is calculated. , and ; The desired commanded rudder angles for the bow rudder and the X-shaped stern rudder are then calculated as follows: 。 8. The navigation control method for a multi-control-face underwater platform according to claim 7, characterized in that, Solving for the optimal p 1, p 2 and p Method 3 includes: design p 1, p 2 and p The objective function for the parameter optimization problem of 3 is: in, N To set parameters, N >>1; The constraints for this optimization problem are: in, This is the maximum rudder angle value of the bow rudder surface. This represents the maximum rudder angle value for each control surface of the X-shaped stern rudder; the optimal solution is ultimately obtained using linear programming. p 1max , p 2max , p 3max ,and p 2max = p 3max .

9. The navigation control method for a multi-control surface underwater platform according to any one of claims 1-8, characterized in that, Methods for obtaining the current effective depth of an underwater platform include: Obtain the current depth value of the underwater platform measured by two depth gauges; When the depth difference between the two depths does not exceed the set threshold, the average of the two depth values ​​is taken as the current effective depth of the underwater platform. When the depth deviation between the two paths exceeds a set threshold, the variance between each depth value measured in real time within a certain period of time and the theoretical depth value calculated based on the model is calculated, and the depth value with the smaller variance is selected as the current effective depth of the underwater platform.

10. A navigation control system for a multi-control-face underwater platform, wherein, The rudder system of the underwater platform includes a bow rudder and an X-shaped stern rudder. The system is arranged in the underwater platform and is characterized by including: an integrated control unit, two depth gauges, an attitude sensor, an RS485 communication bus, a CAN communication bus, and an Ethernet. The integrated control unit is connected to the depth gauge and the attitude sensor via the RS485 communication bus to acquire the current effective depth, pitch and heading information of the underwater platform. The integrated control unit is connected to the drivers of the bow rudder and the X-shaped stern rudder via both the CAN communication bus and the Ethernet communication link. It is used to run the multi-control surface underwater platform navigation control method as described in any one of claims 1-9, distribute the calculated expected command rudder angles of the bow rudder and the X-shaped stern rudder to the corresponding drivers of the rudder system through one effective communication link, and obtain rudder status information.

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