CN107145155A - It is a kind of from steady system and underwater vehicle - Google Patents
It is a kind of from steady system and underwater vehicle Download PDFInfo
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- CN107145155A CN107145155A CN201710546521.0A CN201710546521A CN107145155A CN 107145155 A CN107145155 A CN 107145155A CN 201710546521 A CN201710546521 A CN 201710546521A CN 107145155 A CN107145155 A CN 107145155A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 22
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- 230000009471 action Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 9
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- 230000003044 adaptive effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to underwater vehicle technical field, disclose a kind of from steady system and underwater vehicle.Wherein, gesture stability module, angle PID controller and angular speed PID controller are included from steady system.Gesture stability module is used to calculate current angular data and current angular velocity data.Angle PID controller is used to control angular velocity data according to angle on target data and current angular data output.Angular speed PID controller is specifically for according to control angular velocity data control signal corresponding with current angular velocity data output.Wherein, underwater vehicle, including as described above from steady system.In the present invention, the angle PID controller of series connection and being equipped with for angular speed PID controller, so that underwater vehicle is complicated and changeable when moving under water under water, its posture can keep stable, and, on the water control end control underwater vehicle make specified posture it is mobile when, underwater vehicle can steadily, accurately and efficiently complete the conversion of posture.
Description
Technical field
The present invention relates to underwater vehicle technical field, more particularly to it is a kind of from steady system and underwater vehicle.
Background technology
Closed-loop control system (closed-loop control system) refers to the output (controlled variable) of controlled device
The input of influence controller counter can be sent back, one or more closed loops are formed.Closed-loop control system has positive feedback and negative-feedback, if
Feedback signal gives value signal on the contrary, being then referred to as negative-feedback (Negative Feedback) with system, if polarity is identical, claims
For positive feedback, general closed-loop control system uses negative-feedback, also known as negative feed back control system.
Current closed-loop automatic control technology is all based on the concept of feedback to reduce uncertainty.The key element of feedback theory
Including three parts：Measure, compare and perform.The actual value of crucially controlled variable is measured, compared with desired value, this is used
Individual deviation carrys out the response of correcting system, performs regulation control.In engineering in practice, the adjuster control law being most widely used
For ratio, integration, differential control, the regulation of abbreviation PID control, also known as PID.
PID controller (Proportion Integration Differentiation. proportional integral differential controls
Device), it is made up of proportional unit P, integral unit I and differentiation element D.Pass through the setting of tri- parameters of Kp, Ki and Kd.PID control
Device is primarily adapted for use in substantially linear and dynamic characteristic time invariant system, and the data being collected into and a reference value are entered
Row compares, and then this difference is used to calculate new input value, and the purpose of this new input value is can to allow the number of system
According to reaching or be maintained at reference value.Different with other simple control computings, PID controller can be according to historical data and difference
Other occurrence rate adjusts input value, can so make system more accurate, more stablizes.
Existing underwater vehicle, when moving under water under water, complicated and changeable due to each waters current, its posture can not be kept
It is stable, influence the progress of its submariner task under water.In addition, control end control underwater vehicle makes the movement specified on the water
Afterwards, violent vibration can occur due to effect of inertia for underwater vehicle, it is impossible to fast quick-recovery stable state, influence the effect of submariner operation
Rate.The posture refers to the roll, pitch, tri- angular values variables of yaw for controlling underwater vehicle.Wherein, pitch is to enclose
Around X-axis (axis of underwater vehicle width) anglec of rotation, the also referred to as angle of pitch, yaw is that (underwater vehicle is high around Y-axis
Spend the axis in direction) anglec of rotation, yaw angle is also, roll is to surround Z axis (axis of underwater vehicle length direction) anglec of rotation,
Also it is roll angle.
The content of the invention
It is an object of the invention to provide it is a kind of can control underwater vehicle keep attitude stabilization from steady system.
Another object of the present invention is to provide a kind of underwater vehicle, including as described above from steady system.
For up to the first purpose, the present invention uses following technical scheme：
It is a kind of from steady system, including：
Gesture stability module, for detecting the current angular data for the current pose for calculating underwater vehicle and working as anterior angle
Speed data, and control underwater vehicle to carry out pose adjustment according to control signal.
Angle PID controller, solves according to the difference of the angle on target data of targeted attitude and current angular data and obtains
And export corresponding control angular velocity data；
Angular speed PID controller, solves according to the difference of control angular velocity data and current angular velocity data and obtains and defeated
Go out corresponding control signal.
Preferably, also including first adder, the first adder is used to receive the target appearance that control end is sent
Current angular data detected by the angle on target data and gesture stability module of state, by angle on target data with working as anterior angle
Degrees of data asks difference to obtain angle-data difference, and the angle-data difference is exported gives angle PID controller, the angle
PID controller is solved according to angle-data difference to be obtained and exports corresponding control angular velocity data.Above-mentioned first adder
Set, simple in construction, carrying out practically is accurately and reliably.
Preferably, also including second adder, the second adder is used for what receiving angle PID controller was sent
Current angular velocity data detected by control angular velocity data and gesture stability module, will control angular velocity data and current
Angular velocity data asks difference to obtain angular velocity data difference, and the angular velocity data difference is exported gives angular speed PID controller,
The angular speed PID controller solves according to angular velocity data mathematic interpolation and obtains corresponding control signal.Above-mentioned second addition
The setting of device, simple in construction, carrying out practically is accurately and reliably.
Preferably, the gesture stability module enters action edge distribution to enter by the motor to underwater vehicle
The row pose adjustment.
Preferably, described be used to control underwater vehicle to keep a stationary posture or static from one from steady system
Pose adjustment is to another stationary posture.During above-mentioned one stationary posture of holding so that underwater vehicle is adaptive under water
Changeable environment, it is above-mentioned be adjusted to another stationary posture from a stationary posture so that the Posture exchange of underwater vehicle more
It is reliable and stable.
Preferably, the control instruction that the angle on target data are sent by control end waterborne to underwater vehicle.On
State setting so that the simpler convenience of control of the operating personnel to the present invention from steady system, it is safe and reliable.
For up to another object, the invention provides a kind of underwater vehicle, including as described above from steady system.
Preferably, including two main pushing motors and two auxiliary pushing motors, the gesture stability module according to
Two main pushing motors and two auxiliary pushing motors are entered action edge point by the control signal of angular speed PID controller output
Match somebody with somebody, so that underwater vehicle reaches the targeted attitude.The main pushing motor of above-mentioned two and two auxiliary pushing motors are set,
It is engaged with from steady system so that underwater vehicle pose adjustment of the invention is simpler reliable, safe and efficient.
Preferably, also including press strip and buoyancy adjustment device；The press strip is provided with multiple, and the distribution of multiple press strips is solid
Due on the body of the underwater vehicle, for balancing the gravity of the underwater vehicle body length direction everywhere；It is described
Buoyancy adjustment device is arranged at the underwater vehicle bottom, for cause the underwater vehicle center of gravity be located at centre of buoyancy it
Under.Above-mentioned press strip and buoyancy adjustment device are equipped with so that underwater vehicle provided by the present invention is in no external world
In the case of interference, itself can be held in the posture of a certain stabilization, and it is engaged with what invention was provided from steady system, improves
To the Stability and dependability of underwater vehicle gesture stability provided by the present invention.
Beneficial effects of the present invention：The angle PID controller of series connection and being equipped with for angular speed PID controller so that
Underwater vehicle complicated and changeable when moving under water under water, and its posture can keep stable, and underwater vehicle has been effectively ensured under water
The progress of submariner task, also, on the water control end control underwater vehicle make specified posture it is mobile when, underwater vehicle
It can steadily, accurately and efficiently complete the conversion of posture.
Brief description of the drawings
Fig. 1 is the FB(flow block) from steady system that embodiment of the present invention is provided.
Embodiment
Embodiments of the invention are described below in detail, the example of embodiment is shown in the drawings, wherein identical from beginning to end
Or similar label represents same or similar element or the element with same or like function.Retouched below with reference to accompanying drawing
The embodiment stated is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As shown in figure 1, the invention provides a kind of from steady system.It is above-mentioned to include gesture stability module, angle from steady system
PID controller and angular speed PID controller.Above-mentioned gesture stability module is used to detect the current pose for calculating underwater vehicle
Current angular data and current angular velocity data (with the roll of underwater vehicle, pitch, tri- angular values variables of yaw
On the basis of).Above-mentioned angle PID controller is specifically for the target according to targeted attitude (the underwater vehicle posture to be reached)
Angle-data is solved with the difference of current angular data to be obtained and exports corresponding control angular velocity data.Above-mentioned angular speed PID
Controller is obtained and to gesture stability mould specifically for being solved according to the difference of control angular velocity data and current angular velocity data
Block exports corresponding control signal.Above-mentioned gesture stability module is received after above-mentioned control signal, and water is controlled according to control signal
Lower submariner device makes corresponding action.Finally, when angle on target data are equal with current angular data, and pilot angle number of speed
According to it is equal with current angular velocity data when, underwater vehicle is transformed to targeted attitude from current pose.Specifically, above-mentioned angle
PID controller is the conventional PID controller unit in this area with angular speed PID controller, and its concrete structure and operation principle exist
This is repeated no more.
In the present invention, the angle PID controller of series connection and being equipped with for angular speed PID controller so that submariner under water
Device complicated and changeable when moving under water under water, and its posture can keep stable, and underwater vehicle submariner task under water has been effectively ensured
Progress, also, on the water control end control underwater vehicle make specified posture it is mobile when, underwater vehicle can be put down
Surely, the conversion of posture is accurately and efficiently completed.
Specifically, present embodiment from steady system also include first adder.Above-mentioned first adder, which is used to receive, to be controlled
Current angular data detected by the angle on target data and gesture stability module of the targeted attitude that end processed is sent, by mesh
Mark angle-data asks difference to obtain angle-data difference with current angular data, and above-mentioned angle-data difference is exported to above-mentioned angle
PID controller is spent, above-mentioned angle PID controller is solved according to angle-data difference to be obtained and export corresponding pilot angle number of speed
According to.The setting of above-mentioned first adder, simple in construction, carrying out practically is accurately and reliably.
More specifically, present embodiment from steady system also include second adder.Above-mentioned second adder is used to connect
The current angular velocity number detected by control angular velocity data and gesture stability module that receipts angle PID controller is sent
According to, ask difference to obtain angular velocity data difference control angular velocity data and current angular velocity data, and by the angular velocity data
Difference is exported to above-mentioned angular speed PID controller, and above-mentioned angular speed PID controller is solved according to angular velocity data mathematic interpolation
To corresponding control signal.The setting of above-mentioned second adder, simple in construction, carrying out practically is accurately and reliably.
Above-mentioned first adder is adder part conventional in the art, its concrete structure and work with second adder
Principle will not be repeated here.
The above-mentioned stable state for being used to controlling underwater vehicle to keep stationary posture from steady system or from a static appearance
State is adjusted to another stationary posture.During above-mentioned one stationary posture of holding so that underwater vehicle is adaptive to many under water
The environment of change, it is above-mentioned to be adjusted to another stationary posture from a stationary posture so that the Posture exchange of underwater vehicle is more steady
It is fixed reliable.
The control instruction that above-mentioned angle on target data are sent by control end waterborne to underwater vehicle.Above-mentioned setting, makes
The simpler convenience of control of the operating personnel to the present invention from steady system is obtained, it is safe and reliable.
Present invention also offers a kind of underwater vehicle, specifically include as described above from steady system.
Specifically, underwater vehicle provided by the present invention includes two main pushing motors and two auxiliary pushing electricity
Machine, the control signal that the gesture stability module is exported according to angular speed PID controller, to two main pushing motors and two
Auxiliary pushing motor enters action edge distribution, so that underwater vehicle reaches above-mentioned targeted attitude.Specifically, for example, being pushed away when four
During the rectangular setting of dynamic motor, by setting underwater vehicle left and right sides pushing motor driving direction on the contrary, so as to complete yaw
The adjustment of angular values.The main pushing motor of above-mentioned two and two auxiliary pushing motors are set, and are engaged, are made with from steady system
Obtain underwater vehicle pose adjustment of the invention simpler reliable, it is safe and efficient.
More specifically, underwater vehicle provided by the present invention also includes press strip and buoyancy adjustment device；Above-mentioned pressure
Bar is provided with multiple, and the distribution of multiple press strips is fixed on the body of underwater vehicle provided by the present invention, for balancing this hair
The gravity of bright provided underwater vehicle body length direction everywhere.Above-mentioned buoyancy adjustment device is arranged at the submariner under water
Device bottom, for causing the center of gravity of the underwater vehicle to be located under centre of buoyancy.Above-mentioned press strip and buoyancy adjustment device are matched somebody with somebody
Close and set so that underwater vehicle provided by the present invention itself can be held in a certain in the case of no external interference
Stable posture, it is engaged from steady system with provided by the present invention, improved to underwater vehicle provided by the present invention
The Stability and dependability of gesture stability.
Obviously, the above embodiment of the present invention is just for the sake of clear explanation example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Any modifications, equivalent substitutions and improvements made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (9)
1. it is a kind of from steady system, for underwater vehicle, it is characterised in that including：
Gesture stability module, current angular data and current angular velocity for detecting the current pose for calculating underwater vehicle
Data, and control underwater vehicle to carry out pose adjustment according to control signal；
Angle PID controller, solves according to the difference of the angle on target data of targeted attitude and the current angular data and obtains
And export corresponding control angular velocity data；
Angular speed PID controller, solves according to the difference of the control angular velocity data and the current angular velocity data and obtains
And export the corresponding control signal.
2. according to claim 1 from steady system, it is characterised in that also including first adder, the first adder
For receiving detected by the angle on target data and the gesture stability module for the targeted attitude that control end is sent
The current angular data, ask difference to obtain angle-data difference the angle on target data and the current angular data,
And export the angle-data difference to the angle PID controller, the angle PID controller is according to the angle-data
Difference solves and obtains and export the corresponding control angular velocity data.
3. according to claim 1 from steady system, it is characterised in that also including second adder, the second adder
Detected for receiving the control angular velocity data that the angle PID controller sent and the gesture stability module
The current angular velocity data arrived, ask difference to obtain angular speed the control angular velocity data with the current angular velocity data
Data difference, and the angular velocity data difference is exported to the angular speed PID controller, the angular speed PID controller
Solved according to the angular velocity data mathematic interpolation and obtain the corresponding control signal.
4. it is according to claim 1 from steady system, it is characterised in that the gesture stability module passes through to underwater vehicle
Motor enter action edge distribution so as to carrying out the pose adjustment.
5. it is any described from steady system according to claim 1-4, it is characterised in that described to be used to control to dive under water from steady system
Boat device keeps a stationary posture or is adjusted to another stationary posture from a stationary posture.
6. it is according to claim 5 from steady system, it is characterised in that the angle on target data are control end waterborne to water
The control instruction that lower submariner device is sent.
7. a kind of underwater vehicle, it is characterised in that any described from steady system including claim 1-6.
8. underwater vehicle according to claim 7, it is characterised in that aided in including two main pushing motors and two
Pushing motor, the control signal that the gesture stability module is exported according to the angular speed PID controller, to described in two
Main pushing motor and two auxiliary pushing motors enter action edge distribution, so that the underwater vehicle reaches the target
Posture.
9. underwater vehicle according to claim 8, it is characterised in that also including press strip and buoyancy adjustment device；
The press strip is provided with multiple, and multiple press strips distributions are fixed on the body of the underwater vehicle, for balancing
The gravity of the underwater vehicle body length direction everywhere；
The buoyancy adjustment device is arranged at the underwater vehicle bottom, for causing the center of gravity of the underwater vehicle to be located at
Under centre of buoyancy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710546521.0A CN107145155A (en) | 2017-07-06 | 2017-07-06 | It is a kind of from steady system and underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710546521.0A CN107145155A (en) | 2017-07-06 | 2017-07-06 | It is a kind of from steady system and underwater vehicle |
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| CN107145155A true CN107145155A (en) | 2017-09-08 |
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| CN201710546521.0A Pending CN107145155A (en) | 2017-07-06 | 2017-07-06 | It is a kind of from steady system and underwater vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082422A (en) * | 2017-12-15 | 2018-05-29 | 中国南方电网有限责任公司调峰调频发电公司 | AUV Control device |
| CN108549214A (en) * | 2018-06-28 | 2018-09-18 | 赵春红 | A kind of high-performance PID control method |
| WO2019233019A1 (en) * | 2018-06-07 | 2019-12-12 | 深圳市吉影科技有限公司 | Three-propeller underwater drone closed loop motion control method and system thereof |
| CN111290414A (en) * | 2018-12-10 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Underwater equipment control method and device based on attitude control |
| CN111338206A (en) * | 2020-04-23 | 2020-06-26 | 深圳市吉影科技有限公司 | Automatic balancing method and system for underwater vehicle |
| CN117184382A (en) * | 2023-11-07 | 2023-12-08 | 成都诸元天成智能装备有限公司 | A stable system for submarine real-time gesture |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082422A (en) * | 2017-12-15 | 2018-05-29 | 中国南方电网有限责任公司调峰调频发电公司 | AUV Control device |
| CN108082422B (en) * | 2017-12-15 | 2020-09-11 | 中国南方电网有限责任公司调峰调频发电公司 | Underwater robot motion control device |
| WO2019233019A1 (en) * | 2018-06-07 | 2019-12-12 | 深圳市吉影科技有限公司 | Three-propeller underwater drone closed loop motion control method and system thereof |
| CN108549214A (en) * | 2018-06-28 | 2018-09-18 | 赵春红 | A kind of high-performance PID control method |
| CN111290414A (en) * | 2018-12-10 | 2020-06-16 | 中国科学院沈阳自动化研究所 | Underwater equipment control method and device based on attitude control |
| CN111338206A (en) * | 2020-04-23 | 2020-06-26 | 深圳市吉影科技有限公司 | Automatic balancing method and system for underwater vehicle |
| CN117184382A (en) * | 2023-11-07 | 2023-12-08 | 成都诸元天成智能装备有限公司 | A stable system for submarine real-time gesture |
| CN117184382B (en) * | 2023-11-07 | 2024-01-19 | 成都诸元天成智能装备有限公司 | A stable system for submarine real-time gesture |
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Application publication date: 20170908 |