An unmanned underwater vehicle hybrid control system

Abstract

This application discloses a hybrid control system for unmanned underwater vehicles (UUVs), relating to the field of UUV control technology. The system includes a main control unit, real-time control units, and non-real-time control units. The main control unit is connected to each real-time control unit via real-time Ethernet. The main control unit is also connected to each non-real-time control unit via standard Ethernet. Each real-time control unit and non-real-time control unit is equipped with corresponding sensors and actuators. This application overcomes the shortcomings of existing technologies by using a hybrid architecture with multiple networks to meet the different requirements of various devices for real-time performance and flexibility. It combines the characteristics of centralized and distributed control structures, facilitating the access of modular nodes. Furthermore, it increases the reliability of the control system through a dual redundancy mechanism of main control redundancy and ring link redundancy.

Description

Technical Field

[0001] This application relates to the field of unmanned underwater vehicle control technology, specifically to a hybrid control system for unmanned underwater vehicles. Background Technology

[0002] In recent years, unmanned underwater vehicles (UUVs) have been increasingly widely used in military and civilian fields. As an unmanned platform, the quality of its control system architecture has a crucial impact on its engineering applications. Some UUV devices have strong real-time control requirements to ensure the timeliness of control for critical tasks; while others require strong flexibility and large communication bandwidth, without excessively high real-time requirements. To address the increasingly comprehensive functional demands and the resulting complex control systems, it is necessary to design control systems that can accommodate both real-time and non-real-time control needs. Furthermore, the control systems currently widely used in UUVs mainly include centralized and distributed control systems. Centralized control systems demonstrate strong global scheduling and synchronization capabilities in task allocation and resource scheduling, but they suffer from single-point-of-failure risks and communication dependencies. Distributed control systems offer advantages such as fast local response and autonomous module decision-making, but their global coordination capabilities are weaker and resource utilization is inefficient. Adapting these two modes as needed can enhance the adaptability, operational stability, and fault tolerance of UUVs for complex tasks, while reducing the risks associated with a single mode.

[0003] To meet practical needs, a hybrid control system for unmanned underwater vehicles is provided. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application aims to provide a hybrid control system for unmanned underwater vehicles. This system overcomes the deficiencies of existing technologies by using a hybrid architecture with multiple networks coexisting to meet the different requirements of various devices for real-time performance and flexibility. It combines the characteristics of centralized and distributed control structures, facilitates the access of modular nodes, and increases the reliability of the control system through a dual redundancy mechanism of main control redundancy and ring link redundancy.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: This application provides a hybrid control system for an unmanned underwater vehicle, the system comprising: Main control unit, real-time control unit, and non-real-time control unit; The main control unit is connected to each of the real-time control units via a real-time Ethernet signal. The main control unit is connected to each of the non-real-time control units via a standard Ethernet signal. Both the real-time control unit and the non-real-time control unit are equipped with corresponding sensors and actuators.

[0006] Based on the above technical solution, the main control unit includes: The system includes a communication scheduling module, a communication interface module, a planning and control module, a data processing and forwarding module, an emergency handling module, and a data storage module; among which, The data processing and forwarding module is connected to the communication scheduling module, the communication interface module, the planning and control module, the emergency handling module, and the data storage module.

[0007] Based on the above technical solution, the communication interface module includes an EtherCAT communication interface module and a standard Ethernet communication interface module; The data processing and forwarding module is connected to the EtherCAT communication interface module and the standard Ethernet communication interface module, respectively.

[0008] Based on the above technical solution, the real-time control unit includes: Navigation unit, propulsion control unit, servo control unit, and balance control unit.

[0009] Based on the above technical solution, the real-time control unit includes: Navigation unit, propulsion control unit, servo control unit, and balance control unit; The EtherCAT communication interface module is connected to the navigation unit, the propulsion control unit, the servo control unit, and the equalization control unit respectively, and communicates in real time based on real-time Ethernet.

[0010] Based on the above technical solution, the navigation unit includes a slave communication module, a hardware interface module, a data processing module, and a clock synchronization module; The propulsion control unit includes a slave communication module, a main circuit module, a servo control module, a protection module, and a clock synchronization module; The servo control unit includes a slave communication module, a servo control module, a power drive and hardware interface module, and a clock synchronization module; The equalization control unit includes a slave communication module, a pump valve and sensor interface module, an equalization module, and a clock synchronization module; The EtherCAT communication interface module is connected to the slave communication module of the navigation unit, the propulsion control unit, the servo control unit, and the equalization control unit, respectively.

[0011] Based on the above technical solution, the non-real-time control unit includes: Environmental monitoring unit, power monitoring unit, and water cooling monitoring unit.

[0012] Based on the above technical solution, the non-real-time control unit includes: Environmental monitoring unit, power monitoring unit, and water cooling monitoring unit; The standard Ethernet communication interface module is connected to the environmental monitoring unit, the power monitoring unit, and the water cooling monitoring unit respectively, and communicates based on standard Ethernet.

[0013] Based on the above technical solution, the environmental monitoring unit includes a standard Ethernet communication module, a sensor interface module, a data compression and encapsulation module, and a clock synchronization module; The power monitoring unit includes a standard Ethernet communication module, a sensor interface module, a data compression and encapsulation module, and a clock synchronization module. The water-cooled monitoring unit includes a standard Ethernet communication module, a pump and valve and sensor interface module, a water-cooled control module, and a clock synchronization module.

[0014] Based on the above technical solution, the system further includes: The remote monitoring unit is signal-connected to the standard Ethernet communication interface module.

[0015] Compared with the prior art, the advantages of this application are: The hybrid control system proposed in this application can accurately match two types of control requirements, ensuring real-time response and navigation safety for core equipment / tasks, while also meeting the high-bandwidth transmission and flexible adaptability requirements for non-real-time tasks. This improves task scenario compatibility, reduces software and hardware development and maintenance costs, and enhances UUV operational stability and multi-task execution efficiency.

[0016] This application addresses typical experimental tasks where there is only one centralized control node scheduling other nodes. It employs a dual-master redundancy approach to provide hot-machine backup for the centralized control node and uses EtherCAT ring link redundancy to back up the information exchange channel. This approach ensures overall coordination, uniformity, and efficiency while improving the reliability of key nodes and communication links.

[0017] When the distributed control node fails to communicate with the superior node, the distributed control node adopts a distributed control mode and makes local decisions based on the actual situation of the node, thereby improving the flexibility and security of the system. Each distributed control node is an independent unit, and the failure of the centralized control node and the failure of the distributed control node will not affect the local control function of other distributed control nodes, thereby avoiding the risk of single point of failure and ensuring the reliability of the system.

[0018] The distributed control node of this application adopts a modular design concept. The information exchange between nodes uses a unified communication interface and power interface, which makes it easy to add or remove functional modules according to task requirements, thereby improving the scalability and maintainability of the system. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an architecture diagram of the hybrid control system for an unmanned underwater vehicle according to an embodiment of this application; Figure 2 This is a schematic diagram of information interaction in the hybrid control system of the unmanned underwater vehicle according to an embodiment of this application. Detailed Implementation

[0021] Terminology Explanation: UUV: Unmanned Underwater Vehicle; CAN: Controller Area Network; DVL: Doppler Velocity Log, a Doppler velocity meter or speedometer; GPS: Global Positioning System; PDO: Process Data Object; PID stands for Proportional Integral Derivative. TCP: Transmission Control Protocol; UDP: User Datagram Protocol; CRC: Cyclic Redundancy Check; PWM: Pulse Width Modulation; CPU: Central Processing Unit; IP: Internet Protocol. SFP: Small Form Pluggable, optical module; PoE: Power Over Ethernet.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0024] This application provides a hybrid control system for unmanned underwater vehicles, which overcomes the shortcomings of the prior art. Through a hybrid architecture with multiple networks coexisting, it meets the different requirements of various devices for real-time performance and flexibility. It combines the characteristics of centralized and distributed control structures, facilitates the access of modular nodes, and increases the reliability of the control system through a dual redundancy mechanism of main control redundancy and ring link redundancy.

[0025] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0026] See Figures 1-2 As shown in the figure, this application provides a hybrid control system for an unmanned underwater vehicle, the system comprising: Main control unit, real-time control unit, and non-real-time control unit; The main control unit is connected to each of the real-time control units via a real-time Ethernet signal. The main control unit is connected to each of the non-real-time control units via a standard Ethernet signal. Both the real-time control unit and the non-real-time control unit are equipped with corresponding sensors and actuators.

[0027] The hybrid control system of this application embodiment can accurately match two types of control requirements, ensuring real-time response and navigation safety of core equipment / tasks, while also meeting the high-bandwidth transmission and flexible adaptability of non-real-time tasks, improving task scenario compatibility, reducing software and hardware development and maintenance costs, and enhancing UUV operation stability and multi-task execution efficiency.

[0028] This application embodiment is designed for typical experimental tasks, where there is one and only one centralized control node to schedule other nodes. It adopts a dual master station redundancy method to perform hot machine backup of the centralized control node, and uses EtherCAT ring link redundancy to back up the information interaction channel. While ensuring global coordination, unity and efficiency, it improves the reliability of key nodes and communication links.

[0029] In this embodiment of the application, when the distributed control node fails to communicate with the superior node, the distributed control node adopts a distributed control mode and makes local decisions based on the actual situation of the node, thereby improving the flexibility and security of the system. Each distributed control node is an independent unit, and the failure of the centralized control node and the failure of the distributed control node will not affect the local control function of other distributed control nodes, thus avoiding the risk of single point of failure and ensuring the reliability of the system.

[0030] The distributed control node in this embodiment adopts a modular design approach. The information exchange between nodes uses a unified communication interface and power interface, which facilitates the addition or removal of functional modules according to task requirements, thereby improving the scalability and maintainability of the system.

[0031] Furthermore, the main control unit includes: The system includes a communication scheduling module, a communication interface module, a planning and control module, a data processing and forwarding module, an emergency handling module, and a data storage module; among which, The data processing and forwarding module is connected to the communication scheduling module, the communication interface module, the planning and control module, the emergency handling module, and the data storage module.

[0032] Furthermore, the communication interface module includes an EtherCAT communication interface module and a standard Ethernet communication interface module; The data processing and forwarding module is connected to the EtherCAT communication interface module and the standard Ethernet communication interface module, respectively.

[0033] Furthermore, the real-time control unit includes: Navigation unit, propulsion control unit, servo control unit, and balance control unit.

[0034] Furthermore, the real-time control unit includes: Navigation unit, propulsion control unit, servo control unit, and balance control unit; The EtherCAT communication interface module is connected to the navigation unit, the propulsion control unit, the servo control unit, and the equalization control unit respectively, and communicates in real time based on real-time Ethernet.

[0035] Furthermore, the navigation unit includes a slave communication module, a hardware interface module, a data processing module, and a clock synchronization module; The propulsion control unit includes a slave communication module, a main circuit module, a servo control module, a protection module, and a clock synchronization module; The servo control unit includes a slave communication module, a servo control module, a power drive and hardware interface module, and a clock synchronization module; The equalization control unit includes a slave communication module, a pump valve and sensor interface module, an equalization module, and a clock synchronization module; The EtherCAT communication interface module is connected to the slave communication module of the navigation unit, the propulsion control unit, the servo control unit, and the equalization control unit, respectively.

[0036] Furthermore, the non-real-time control unit includes: Environmental monitoring unit, power monitoring unit, and water cooling monitoring unit.

[0037] Furthermore, the non-real-time control unit includes: Environmental monitoring unit, power monitoring unit, and water cooling monitoring unit; The standard Ethernet communication interface module is connected to the environmental monitoring unit, the power monitoring unit, and the water cooling monitoring unit respectively, and communicates based on standard Ethernet.

[0038] Furthermore, the environmental monitoring unit includes a standard Ethernet communication module, a sensor interface module, a data compression and encapsulation module, and a clock synchronization module; The power monitoring unit includes a standard Ethernet communication module, a sensor interface module, a data compression and encapsulation module, and a clock synchronization module. The water-cooled monitoring unit includes a standard Ethernet communication module, a pump and valve and sensor interface module, a water-cooled control module, and a clock synchronization module.

[0039] Furthermore, the system also includes: The remote monitoring unit is signal-connected to the standard Ethernet communication interface module.

[0040] In specific implementation, the technical solution based on the embodiments of this application is as follows: To meet the diverse information interaction requirements of different distributed control nodes, a network architecture combining EtherCAT real-time Ethernet and standard Ethernet is adopted. EtherCAT handles the access of real-time devices, while standard Ethernet handles the access of non-real-time devices. The standard Ethernet interface is integrated into the EtherCAT master station to achieve convergence with the real-time network and avoid mutual interference. Sensors or actuators connect to the distributed control nodes via standard Ethernet, digital bus cables (such as RS-485 serial ports or CAN buses), or analog signal cables.

[0041] In the technical solution of this application embodiment, the hybrid control system architecture is as shown in the accompanying drawings. Figure 1 As shown, The main control unit serves as the information distribution center of the hybrid control system, aggregating status information from various control units and devices, and sending or forwarding command information as needed. The main control unit simultaneously connects to both EtherCAT real-time Ethernet and standard Ethernet; the standard Ethernet connection is used for information exchange with non-real-time control units and for synchronizing information between the main and backup main control units; the main control unit, acting as the master station, connects to EtherCAT real-time Ethernet for information exchange with slave real-time control units.

[0042] The real-time control unit refers to a control unit with high requirements for real-time information interaction. As a slave station, it connects to EtherCAT real-time Ethernet and connects to relevant sensors and actuators via serial port or CAN bus.

[0043] The non-real-time control unit refers to a control unit that does not have high requirements for real-time information interaction. It is connected to a standard Ethernet network and connects to relevant sensors and actuators via a serial port or CAN bus.

[0044] The sensors mentioned refer to the sensors necessary for the unmanned underwater vehicle to complete the corresponding test tasks, such as navigation sensors such as inertial navigation, DVL, GPS, and depth gauges; electrical sensors such as current and voltage sensors; and sensors such as angle, temperature, humidity, pressure, liquid level, and limit sensors.

[0045] The actuators referred to are the actuators necessary for the unmanned underwater vehicle to complete the corresponding test tasks, such as propulsion motors, servo motors, pumps, valves, power switches, etc.

[0046] Specifically, the functional modules of the hybrid control system are detailed as follows: The hybrid control system comprises centralized control nodes and distributed control nodes. The centralized control node refers to the main control unit, while the distributed control nodes include navigation units, propulsion control units, servo control units, balance control units, environmental detection units, cabin monitoring units, water-cooling monitoring units, etc. The functional modules of the centralized control node main control unit include: a communication scheduling module (real-time and non-real-time scheduling), a communication interface module, a planning and control module, a data processing and forwarding module, an emergency handling module, and a data storage module.

[0047] Communication scheduling module (real-time and non-real-time scheduling): This module is the core module ensuring efficient collaboration between "high real-time EtherCAT slaves" and "low real-time standard Ethernet nodes." Its main functions include precise scheduling of communication cycles, distinguishing communication priorities between high and low real-time nodes to avoid resource conflicts; this includes: ① Maintaining a communication cycle table: Pre-setting the communication cycle (e.g., 1ms / 10ms) for EtherCAT slaves (high real-time) and the cycle (e.g., 100ms / 1s) for standard Ethernet nodes (low real-time), supporting dynamic adjustment. ② Triggering communication according to a cycle: Sending "send / receive" trigger signals to the EtherCAT / Ethernet interface module to ensure that data from real-time nodes is exchanged within a strict cycle. ③ Monitoring communication status: Recording the communication latency, packet loss rate, and online status of each node, and synchronizing abnormal information (e.g., timeout, node offline) to the fault diagnosis module and the core control module.

[0048] The communication interface module includes an EtherCAT communication interface module and a standard Ethernet communication interface module.

[0049] (1) EtherCAT communication interface module. The core function of this module is to handle the low-level communication with high real-time EtherCAT slave stations. Specifically, it includes: ① Encoding / decoding of physical layer data frames based on the EtherCAT protocol stack; ② Receiving real-time status data (such as motor current, angular velocity, water pressure) from the slave station and transmitting it through process data objects (PDO) to ensure low latency; ③ Sending real-time execution instructions (such as PID control quantities and switching quantities) generated by the core control module, encapsulating them into PDO frames, and sending them according to the scheduling cycle; ④ Bus status monitoring: detecting slave station heartbeats and link faults (such as disconnection and signal attenuation), and reporting the fault codes to the periodic communication scheduling module.

[0050] (2) Standard Ethernet communication interface module. The core function of this module is to handle communication with low real-time Ethernet nodes (such as environmental sensors and log storage units). Specifically, it includes: ① Reliable transmission of non-real-time data based on TCP / UDP protocol; ② Receiving node status information (such as water temperature, salinity, and equipment temperature) and ensuring data integrity through TCP; ③ Sending non-real-time instructions (such as parameter configuration and historical data query) and supporting UDP broadcast (such as global time synchronization); ④ Connection management: feeding back connection status (such as connection success / failure) to the periodic communication scheduling module.

[0051] The planning and control module receives global mission instructions (such as navigation paths) from upper-level systems (such as ground stations and workboats) and parses them into executable instructions. Based on the status information returned by the distributed control nodes, combined with the UUV's current attitude, position, and other motion parameters, as well as obstacle information, it generates real-time / non-real-time execution instructions (such as thruster speed instructions, rudder angle instructions, pump / valve switching instructions, etc.) for each distributed control node.

[0052] The data processing and forwarding module is responsible for data standardization, integration, and distribution, forming a central data flow of "collection-processing-distribution." This includes: ① Data reception and preprocessing: Receiving raw data from the EtherCAT / Ethernet interface module, performing format conversion (unifying to the UUV system standard data structure), validity verification (such as range checks and CRC checks), and timestamp synchronization (based on the satellite navigation NTP server). ② Data integration: Integrating scattered node status data (such as thruster speed and sensor data) into a global UUV status (such as position, attitude, and propulsion system). ③ Data distribution: Pushing the integrated global status to the mission planning module for decision-making; pushing the global status to the communication interface module (for uploading to the surface remote control unit); receiving execution instructions from the mission planning module and distributing them to the corresponding communication interface module based on the target node type (EtherCAT / Ethernet).

[0053] The emergency response module's core function is to monitor system anomalies and trigger emergency response mechanisms to ensure the safe operation of the UUV. This includes: ① Multi-dimensional monitoring: The communication layer receives anomaly information from the periodic communication scheduling module (e.g., EtherCAT slave offline, excessive Ethernet packet loss rate); the data layer receives invalid data alarms from the data processing module (e.g., sensor data exceeding reasonable range); the control layer receives alarms from the planning and control module regarding abnormal UUV motion status (e.g., position, depth, attitude, bottom height, and time); the equipment layer receives reports from distributed control nodes regarding equipment fault status (e.g., propulsion motors, rudders, valves, pumps, and electrical equipment); and the environmental layer receives alarms from environmental sensing sensors (e.g., water leakage, pressure, smoke). ② Fault Classification and Handling: For minor faults that do not affect the test mission and UUV navigation safety, the handling method is to log and push a warning to the core control module; for moderate faults that do not affect UUV navigation safety but cannot complete the normal test mission, the handling method is to steer and surface; for severe faults that affect UUV navigation safety, the handling method is to immediately steer and blow away or jettison and surface: while triggering the fault tolerance strategy, the fault is reported to the surface remote control unit through the communication interface module.

[0054] The data storage module's core function is to store all data generated during UUV navigation, forming the basis for post-experiment data analysis. This includes UUV mission data, motion status data, sensor data, command data, equipment status data, and more.

[0055] Specifically, the functional modules of a distributed control node are composed of different functional modules according to the functional requirements of the node.

[0056] Navigation Unit (Real-time): Responsible for the acquisition and processing of navigation data, including a hardware interface module, a data processing module, a slave communication module, and a clock synchronization module. ① The hardware interface module is responsible for direct connection and basic communication with all sensors, including inertial navigation systems, DVL, GPS, depth gauges, and depth sounders. ② The data processing module is responsible for parsing, preprocessing, and filtering the raw sensor data. ③ The slave communication module is responsible for receiving and sending EtherCAT frames, ensuring the navigation unit can seamlessly access the UUV's EtherCAT real-time network and communicate efficiently with the master control unit. ④ The clock synchronization module provides high-precision time synchronization via GPS PPS signals and utilizes EtherCAT's distributed clock mechanism to synchronize with the master station, providing a unified and accurate timestamp for the navigation sensor data.

[0057] Propulsion Control Unit (Real-time): Responsible for real-time closed-loop control of the propulsion motor speed. It includes a main circuit module, servo control module, protection module, slave communication module, and clock synchronization module. ① Main Circuit Module: Responsible for converting grid power into AC power with adjustable frequency and voltage, including an inverter module, rectifier module, and filter module. ② Servo Control Module: Implements motor speed control logic, parameter control, and operating status management. It collects current and voltage from the main circuit through Hall sensors or shunts for overcurrent / overvoltage protection and closed-loop control; receives feedback signals from the motor encoder for precise speed closed-loop control; and processes input speed commands and feedback speed signals according to speed control algorithms (vector control, direct torque control, etc.) to generate PWM waveforms that meet the motor speed control requirements. ③ Protection Module: Monitors system anomalies (overcurrent / overload, overvoltage / undervoltage, overheating, etc.) in real-time and triggers protection actions to ensure the safety of the inverter and motor. ④ Slave Communication Module: Responsible for the physical reception and transmission of EtherCAT frames, ensuring seamless access of the propulsion unit to the UUV's EtherCAT real-time network. ⑤ Clock synchronization module: Utilizes EtherCAT's distributed clock mechanism to ensure strict time synchronization between the propulsion control unit and the master station.

[0058] Servo Control Unit (Real-time): Responsible for real-time closed-loop control of the rudder angle. It includes a servo control module, a power drive and hardware interface module, a slave communication module, and a clock synchronization module. ① The servo control module employs a typical position-velocity-current three-loop control structure to achieve real-time control of the target rudder angle; ② The power drive and hardware interface module is responsible for the direct connection and drive of the servo motor and sensors; ③ The slave communication module is responsible for handling the physical reception and transmission of EtherCAT frames, ensuring seamless access of the servo control unit to the UUV's EtherCAT real-time network; ④ The clock synchronization module utilizes EtherCAT's distributed clock mechanism to maintain strict time synchronization between the servo control unit and the master station.

[0059] Balance Control Unit (Real-time): Responsible for automatic water transfer, injection, and drainage control. It includes a pump / valve / sensor interface module, a balance control module, a slave communication module, and a clock synchronization module. ① The pump / valve / sensor interface module controls the start and stop of the load-changing pump and the opening and closing of valves, and acquires sensor information such as pressure, flow rate, and liquid level. ② The balance control module calculates the injection and drainage volume of each load-changing tank and the water transfer volume between tanks based on the target pitch angle, roll angle, and depth; it achieves precise water volume adjustment through flow integral closed-loop control; and ensures safe and reliable operation through sequential logic and interlocking control. ③ The slave communication module is responsible for handling the physical reception and transmission of EtherCAT frames, ensuring seamless access of the balance control unit to the UUV's EtherCAT real-time network. ④ The clock synchronization module utilizes EtherCAT's distributed clock mechanism to maintain strict time synchronization between the balance control unit and the master station.

[0060] Environmental Monitoring Unit (Non-Real-Time): This unit includes both internal and external environmental monitoring. The internal monitoring is responsible for monitoring temperature, humidity, pressure, hydrogen levels, and water leakage within the pressure chamber. The external monitoring is responsible for structuring the sonar output into point cloud data, with each point containing information such as distance, azimuth, and intensity. It includes a data compression and encapsulation module, a standard Ethernet communication module, and a time synchronization module. ① Sensor Interface Module: Responsible for signal acquisition from temperature and humidity sensors, pressure sensors, hydrogen sensors, and water leakage sensors. ② Data Compression and Encapsulation Module: Compresses the sonar data before transmission and then encapsulates the data according to a predefined application layer protocol. ③ Standard Ethernet Communication Module: Responsible for transmitting high-speed, continuous point cloud data and responding to real-time data queries or parameter configuration commands from the main control unit. ④ Time Synchronization Module: Synchronizes time with the main control unit via the NTP protocol.

[0061] Power monitoring unit (non-real-time): Responsible for monitoring the battery pack's voltage, current, temperature, and other statuses, as well as power distribution. It includes a sensor interface module, a control and scheduling module, and a standard Ethernet communication module. ① Sensor interface module: Responsible for acquiring signals from sensors such as voltage, current, and temperature; ② Control and scheduling module: Responsible for voltage conversion and switching control of the power system; ③ Standard Ethernet communication module: Responsible for sending all sensor data and unit status to the main control unit at a fixed frequency (e.g., 1Hz) and responding to the main control unit's control commands; ④ Time synchronization module: Synchronizes time with the main control unit via the NTP protocol.

[0062] Water-cooled monitoring unit (non-real-time): Responsible for the water cooling supply to water-cooled users. It includes a valve and sensor interface module, a water-cooling control module, a standard Ethernet communication module, and a time synchronization module. ① The pump, valve, and sensor interface module controls the start and stop of the cooling pump and the opening and closing of valves, and acquires sensor information such as pressure, temperature, flow rate, and opening / closing status; ② The water-cooling control module executes corresponding working modes according to different UUV operating types, and controls the opening and closing of valves and the start and stop of the pump in sequence according to different working modes to achieve different water-cooling strategies; ③ The standard Ethernet communication module is responsible for sending all sensor data and unit status to the main control unit at a fixed frequency (e.g., 1Hz) and responding to the main control unit's real-time data query or parameter configuration commands; ④ The time synchronization module synchronizes time with the main control unit via the NTP protocol.

[0063] Based on the above-mentioned hybrid control system architecture, through the coordinated operation of the main control unit and the functional modules of the distributed control nodes, the UUV hybrid control system has two working modes: centralized control mode and distributed control mode.

[0064] In the centralized control mode, under the aforementioned hybrid network architecture, the centralized control node (master control unit) is responsible for periodically communicating with the distributed control nodes (including control units with high real-time requirements and control units with low real-time requirements), collecting status information, and forwarding the UUV status information and execution instructions to each distributed control node according to the communication protocol. Through information interaction and coordination among the various control nodes, the predetermined test tasks are completed.

[0065] The information interaction between the main control unit and other nodes (units) / functional modules of the hybrid control system is shown in the figure above, including external interaction flow, high real-time data flow, and low real-time data flow.

[0066] 1. External interaction flow: The remote monitoring unit sends global mission commands (such as navigation paths) and direct control commands to the main control unit through a standard Ethernet communication interface module. The main control unit uploads the global status and fault information of the UUV to the remote monitoring unit through the same interface.

[0067] 2. High real-time data stream: The master control unit prioritizes periodic communication with EtherCAT slave units to ensure high real-time performance. The master control unit configures the PDO communication cycle (e.g., 1ms / 10ms) according to control requirements. The communication protocol uses EtherCAT Process Data Objects (PDOs). The master control unit ensures the clock deviation of all slaves through "distributed clock synchronization" to ensure the determinism of periodic data.

[0068] Uplink data stream: Navigation, propulsion control, servo control, balance control, etc. EtherCAT slave units transmit real-time status data (millisecond level) to the master control unit via slave communication module and EtherCAT communication interface module.

[0069] Downlink data flow: The real-time execution commands generated by the master control unit are encapsulated by the data processing and forwarding module and then sent to EtherCAT slave units such as navigation, propulsion control, servo control, and balance control according to the scheduling cycle through the EtherCAT communication interface module and slave communication module, ensuring the timeliness of the control closed loop.

[0070] 3. Low real-time data flow: The master control unit's periodic communication with the standard Ethernet control node is of low priority and is executed in a time-sharing manner with the high-priority tasks (such as 1ms period) of the EtherCAT slave station to avoid CPU resource contention. The master control unit configures the communication cycle (such as 100ms period) according to control requirements. The communication protocol is selected from standard Ethernet protocols such as TCP / IP and UDP. The master control unit synchronizes the feedback data of the standard Ethernet control node to the "process data image area" and processes it in a unified manner with the feedback data of the EtherCAT slave station to ensure the consistency of control logic.

[0071] Uplink data stream: Standard Ethernet node units such as the environmental detection unit, cabin monitoring unit, and water-cooled monitoring unit transmit non-real-time status data (in milliseconds / seconds) to the main control unit via standard Ethernet interface modules.

[0072] Downlink data flow: Non-real-time instructions from the master control unit are encapsulated by the data processing module and sent to the node units through the standard Ethernet interface module, without the need for strict real-time restrictions.

[0073] Information exchange between various functional modules within the main control unit includes: Data processing and forwarding module to EtherCAT communication interface module: The EtherCAT communication interface module transmits the raw status data received from the EtherCAT slave node to the data processing and forwarding module; the data processing and forwarding module sends execution instructions encapsulated as protocol frames to the EtherCAT communication interface module.

[0074] Data processing and forwarding module to standard Ethernet interface module: The standard Ethernet interface module transmits raw status data received from the standard Ethernet node to the data processing and forwarding module; the data processing and forwarding module sends the execution instructions required by each standard Ethernet node user to the standard Ethernet interface module.

[0075] Data processing and forwarding module to communication scheduling module: The data processing and forwarding module sends communication cycle configuration, start / stop and other communication commands to the communication scheduling module; the communication scheduling module feeds back the communication status of each node to the data processing and forwarding module.

[0076] Data processing and forwarding module to planning and control module: The data processing and forwarding module pushes UUV global status data related to planning and control to the planning and control module; the planning and control module sends planning and control execution instructions to the data processing and forwarding module.

[0077] Data processing and forwarding module to emergency handling module: The data processing and forwarding module sends fault information generated or summarized by each module to the emergency handling module; the emergency handling module sends fault emergency response instructions to the data processing and forwarding module.

[0078] Data processing and forwarding module to data storage module: The data processing and forwarding module sends all the raw data that needs to be recorded to the data storage module; the data storage module feeds back the data storage status to the data processing and forwarding module.

[0079] Communication scheduling module to EtherCAT communication interface module: The communication scheduling module sends periodic trigger signals to the EtherCAT communication interface module; the EtherCAT communication interface module sends data transmission and reception results back to the communication scheduling module.

[0080] Communication scheduling module to standard Ethernet interface module: The communication scheduling module sends periodic trigger signals to the standard Ethernet interface module; the EtherCAT communication interface module sends data transmission and reception results back to the communication scheduling module.

[0081] In the distributed control mode, when communication between the distributed control node and the centralized control node is interrupted, and the distributed control node is unable to receive instructions from the superior unit, it enters distributed control mode. Under the aforementioned hybrid control architecture, the distributed control node itself makes execution decisions based on the collected status information.

[0082] Specifically: Propulsion Unit: (1) In remote control mode, if the main control unit does not receive a standard Ethernet communication message from the remote monitoring unit, the propulsion system enters local emergency mode and performs a shutdown operation. After communication between the remote monitoring unit and the main control unit is restored, the electric propulsion unit executes according to the instructions of the main control unit. (2) If the propulsion unit does not receive instructions from the main control unit in autonomous mode, the electric propulsion unit needs to enter local emergency mode and perform a shutdown operation. After communication is restored, the electric propulsion unit executes according to the instructions of the main control unit or the emergency unit.

[0083] Servo unit: After a communication failure between the servo unit and the main control unit, the servo unit will automatically perform a full rudder ascent.

[0084] Equalizing Unit: If the equalizing unit fails to communicate with the main control unit, and is performing water transfer or injection / drainage actions, it should stop the corresponding actions, shut down the equalizing pump, and then close all valves.

[0085] The priority of execution instructions by distributed control nodes of each execution type is defined as follows: local control instructions are executed first, followed by control instructions from the centralized control node (master control unit). In distributed control mode, a failure of the centralized control node will not affect the local control functions of other execution nodes; similarly, a failure of the distributed control node will not affect the local control functions of other distributed control nodes.

[0086] Furthermore, the technical solution of this application embodiment is equipped with a hybrid control system redundancy mechanism, the technical details of which are as follows: To ensure the reliability of the main control unit and the reliability of information exchange with distributed control nodes with high real-time requirements, a dual redundancy mechanism of dual master station redundancy and EtherCAT ring link redundancy is adopted.

[0087] The dual-master redundancy refers to the UUV hybrid control system comprising two master stations. Both master stations must support the EtherCAT master protocol and the EtherCAT Redundancy protocol, and require at least two EtherCAT physical interfaces and one standard Ethernet interface (for master-slave synchronization). Each slave station requires two EtherCAT interfaces. The two master stations are connected in series via an EtherCAT real-time Ethernet connection, such as... Figure 1 As shown.

[0088] The dual master station redundancy function is achieved through the following three steps.

[0089] (1) Primary and backup synchronization: In the primary station software, redundant configurations such as redundant channel IP address, synchronization period, and switching timeout are set; the primary control unit host synchronizes the "redundant configuration parameters" to the primary control unit backup unit in real time through standard Ethernet; the primary control unit backup unit is in "listening state", receives the synchronization data of the primary control unit host in real time, and preloads the control logic to ensure that it can take over immediately after switching.

[0090] (2) Fault detection: The main control unit host sends a status signal to the main control unit standby unit through a "heartbeat message"; if the main control unit standby unit does not receive a heartbeat within the set timeout period, or detects that the EtherCAT link of the main control unit host is disconnected, the "switching logic" is triggered.

[0091] (3) Master-Standby Switchover: The master control unit standby unit immediately sends a "master switchover notification" to all slave stations, forcing the slave stations to switch to the control channel of the new master station (master control unit standby unit). At the same time, the master control unit standby unit takes over the periodic communication with the non-real-time control unit through the standard Ethernet interface. This achieves seamless switching between the two master stations.

[0092] The ring link redundancy includes EtherCAT real-time Ethernet ring redundancy and standard Ethernet ring redundancy.

[0093] (1) EtherCAT Real-Time Ethernet Ring Redundancy: All slave stations (real-time control units) are connected in series to form a closed ring, and "ring mode" is enabled in the configuration tool; the master station master control unit host and the master control unit standby host serve as the two "endpoints" of the ring, forming a closed loop of "master control unit host - real-time control unit 1 - real-time control unit 2 - real-time control unit N - master control unit standby host", such as Figure 1 As shown, distributed clock synchronization is enabled in the master station software. When any single line segment is disconnected, data is automatically transmitted in the reverse direction, achieving physical line redundancy.

[0094] (2) Standard Ethernet Ring Redundancy: Standard Ethernet switches must be configured with SFP optical ports, with consistent optical port speeds, and the switches must support ring network protection protocols. For example, with three switches... Figure 1 As shown, Switch 1 (optical port 2) ←→ (fiber optic) ←→ Switch 3 (optical port 2), Switch 1 (optical port 1) ←→ (fiber optic) ←→ Switch 2 (optical port 1), and Switch 2 (optical port 2) ←→ (fiber optic) ←→ Switch 3 (optical port 1) ultimately form a closed loop link of "Switch 1 = Switch 2 = Switch 3". The non-real-time control unit and EtherCAT master station are located near the standard Ethernet switch port. Technical details are shown in the attached diagram of the manual. Figure 1 As shown.

[0095] The technical details of the universal distributed control node in the technical solution of this application embodiment are as follows: The interfaces of each control node are modularly designed, with communication and power interfaces adopting a unified standard. This modular design facilitates the maintenance, replacement, expansion, and removal of functional modules.

[0096] 1) Communication interface: For EtherCAT slave distributed control nodes, the standard EtherCAT protocol is used to transmit real-time control data via Process Data Objects (PDOs). For standard Ethernet distributed control nodes, the UDP protocol is used for periodic communication; if data is lost, it can be supplemented by subsequent frames. The user protocol adopts the following unified communication protocol framework.

[0097] Table 1 User Network Protocol Framework

[0098] 2) Power interface: For higher power control nodes, a unified DC 24V power supply is used; for lower power control nodes (less than 30W), a PoE power supply is used.

[0099] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0100] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A hybrid control system for an unmanned underwater vehicle, characterized in that, The system includes: Main control unit, real-time control unit, and non-real-time control unit; The main control unit is connected to each of the real-time control units via a real-time Ethernet signal. The main control unit is connected to each of the non-real-time control units via a standard Ethernet signal. Both the real-time control unit and the non-real-time control unit are equipped with corresponding sensors and actuators.

2. The hybrid control system for unmanned underwater vehicles as described in claim 1, characterized in that, The main control unit includes: The system includes a communication scheduling module, a communication interface module, a planning and control module, a data processing and forwarding module, an emergency handling module, and a data storage module; among which, The data processing and forwarding module is connected to the communication scheduling module, the communication interface module, the planning and control module, the emergency handling module, and the data storage module.

3. The hybrid control system for unmanned underwater vehicles as described in claim 2, characterized in that: The communication interface module includes an EtherCAT communication interface module and a standard Ethernet communication interface module. The data processing and forwarding module is connected to the EtherCAT communication interface module and the standard Ethernet communication interface module, respectively.

4. The hybrid control system for unmanned underwater vehicles as described in claim 1, characterized in that, The real-time control unit includes: Navigation unit, propulsion control unit, servo control unit, and balance control unit.

5. The hybrid control system for unmanned underwater vehicles as described in claim 3, characterized in that, The real-time control unit includes: Navigation unit, propulsion control unit, servo control unit, and balance control unit; The EtherCAT communication interface module is connected to the navigation unit, the propulsion control unit, the servo control unit, and the equalization control unit respectively, and communicates in real time based on real-time Ethernet.

6. The hybrid control system for unmanned underwater vehicles as described in claim 5, characterized in that: The navigation unit includes a slave communication module, a hardware interface module, a data processing module, and a clock synchronization module; The propulsion control unit includes a slave communication module, a main circuit module, a servo control module, a protection module, and a clock synchronization module; The servo control unit includes a slave communication module, a servo control module, a power drive and hardware interface module, and a clock synchronization module; The equalization control unit includes a slave communication module, a pump valve and sensor interface module, an equalization module, and a clock synchronization module; The EtherCAT communication interface module is connected to the slave communication module of the navigation unit, the propulsion control unit, the servo control unit, and the equalization control unit, respectively.

7. The hybrid control system for unmanned underwater vehicles as described in claim 1, characterized in that, The non-real-time control unit includes: Environmental monitoring unit, power monitoring unit, and water cooling monitoring unit.

8. The hybrid control system for unmanned underwater vehicles as described in claim 3, characterized in that, The non-real-time control unit includes: Environmental monitoring unit, power monitoring unit, and water cooling monitoring unit; The standard Ethernet communication interface module is connected to the environmental monitoring unit, the power monitoring unit, and the water cooling monitoring unit respectively, and communicates based on standard Ethernet.

9. The hybrid control system for unmanned underwater vehicles as described in claim 8, characterized in that: The environmental monitoring unit includes a standard Ethernet communication module, a sensor interface module, a data compression and encapsulation module, and a clock synchronization module. The power monitoring unit includes a standard Ethernet communication module, a sensor interface module, a data compression and encapsulation module, and a clock synchronization module. The water-cooled monitoring unit includes a standard Ethernet communication module, a pump and valve and sensor interface module, a water-cooled control module, and a clock synchronization module.

10. The hybrid control system for unmanned underwater vehicles as described in claim 3, characterized in that, The system also includes: The remote monitoring unit is signal-connected to the standard Ethernet communication interface module.

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