CN109002636A - A kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization method step by step - Google Patents
A kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization method step by step Download PDFInfo
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Abstract
Optimization method is related to autonomous underwater vehicle overall design optimization field step by step for a kind of underwater autonomous underwater vehicle lower coupling layer architecture, and in particular to a kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization method step by step.A kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization method step by step, comprising the following steps: (1) entire underwater unmanned vehicle is decomposed into open sub-module；(2) mathematical model of subsystem is designed；(3) design optimization target；(4) corresponding constraint condition is listed；(5) each relatively independent subsystem is optimized respectively, respectively obtains the optimum results of each subsystem, and its objective function is passed into top layer control layer；(6) top layer control layer is optimized by the calculating that iterates, and state variable is uncoordinated between solving the problems, such as each subsystem, obtains final optimum results.By optimization, underwater unmanned vehicle is set to empty rate height, outer dimension is relatively reasonable, total weight is small.
Description
Technical field
The present invention relates to underwater autonomous underwater vehicle overall design optimization fields, and in particular to a kind of underwater autonomous underwater vehicle is low
Couple layer architecture optimization method step by step.
Background technique
The master-plan of underwater autonomous underwater vehicle is that very the key link, traditional design method are in its development process
In conjunction with experience and actual demand, the variable and final target letter of each system structure of underwater autonomous underwater vehicle itself are designed
Number obtains the prioritization scheme of the structure design of underwater autonomous underwater vehicle, this traditional sets by the optimization to target function value
Meter method, not only can be extremely complex in design object function, but also can find during optimization design structure many
Insoluble problem and contradiction.This is because the problem of design of underwater unmanned vehicle is a multi-crossed disciplines, water
There are a large amount of coupling variables in the design process between each structure composed of lower unmanned vehicles, these coupling variables are optimizing
It can always exist, be become difficult so that optimizing final target function value, it is difficult to obtain good effect of optimization in the process.For
Using the wet opening modularization overall structure for carrying independent pressure-bearing subsystem or equipment of non-pressure-resistant light shell structure, underwater nobody is latent
Navigate device, and equipment general layout is relatively flexible, is conducive to the performance of mission payload effect.But it is total for the submariner device of this class formation
Body design optimizes not high, general size there are integrated level and displacement controls the problems such as difficult.
Summary of the invention
The purpose of the present invention is to provide a kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization methods step by step.
A kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization method step by step, comprising the following steps:
(1) entire underwater unmanned vehicle is decomposed into open sub-module, intermodule function opposite independent, and
According to the frame of underwater unmanned vehicle, two main levels are classified as, first level is control layer, and second level is
The subsystem that underwater unmanned vehicle is included；
(2) mathematical model of subsystem is designed；
(3) according to actual needs, design optimization target；
(4) according to actual limitation, corresponding constraint condition is listed；
(5) according to final optimization pass objective function, each relatively independent subsystem is optimized respectively, is respectively obtained
The optimum results of each subsystem, and its objective function is passed into top layer control layer；
(6) top layer control layer is optimized by the calculating that iterates, and state variable is uncoordinated between solving each subsystem
The problem of, final optimum results are obtained, final optimum results should be one group of Pareto equilibrium solution, since actual demand is opposed
Empty rate requires height, and selection wherein empties one group of high solution of rate.
In step (1), open modular construction refer to each task function subsystem, equipment independence pressure-bearing and according to function, connect
Mouth relationship moduleization is integrated, is arranged in the non-pressure-resistance structure of aircraft, each intermodule is relatively independent, reduces overall coupling journey
Degree；Intermodule can be communicated and be cooperated with other modules while keeping respectively working normally.
In step (2), mathematical model chooses the input variable needed, and selection input variable should make between each subsystem
The degree of coupling is minimum, thus obtains relationship and corresponding state constraint between input variable and state variable.
In step (3), optimization aim is respectively as follows: the rate of emptying, outer dimension, total weight, and optimization process to empty rate most
Amount improves, outer dimension is relatively reasonable, total weight is minimum.
In step (4), constraint condition is respectively submerged depth, cruising speed, Diving Time, payload, total weight, outer
Shape size, buoyancy adjustment ability, trim regulating ability.
In mathematical model, the relationship of design variable and optimization object function in subsystem model, using variable complexity
The method of modeling reduces the phenomenon that complexity caused by the coupling of design variable increases.
The beneficial effects of the present invention are:
Using open sub-module, intermodule function opposite independent reduces overall degree of coupling；Intermodule can be
While keeping respectively working normally, is communicated and cooperated with other modules.By optimization, set underwater unmanned vehicle
Empty rate is high, and outer dimension is relatively reasonable, total weight is small.
Detailed description of the invention
Fig. 1 is underwater autonomous underwater vehicle lower coupling layer architecture optimization method flow chart step by step；
Fig. 2 designs hierarchical diagram for underwater unmanned vehicle；
Fig. 3 is the schematic diagram of hierarchy optimization process；
Fig. 4 A is underwater unmanned vehicle primary sub-system schematic diagram；
Fig. 4 B is underwater unmanned vehicle sectional view.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
Step 1: in conjunction with Fig. 4 A, the opening modular designs of underwater unmanned vehicle are as follows, entire underwater unmanned vehicle
Shell made by high-strength carbon fiber to protect internal unit, and use opening design, shell is endless totally-enclosed.It opens inside
Putting module can be operated normally using pressure resistance design under underwater high pressure.
Whole system is divided into fore body (bow), midships section (mid), stern (stern), and several Opening moulds are wrapped in each part
Block, the cooperation of module intercommunication constitute each subsystem of unmanned vehicles.
In conjunction with Fig. 2, set control layer for system top level when layering, by subsystem layer be subdivided into observation communication subsystem,
Control subsystem, Payload Subsystem, power subsystem, propulsion subsystem.
Step 2: designing the mathematical model of subsystem, chooses the input variable of needs, and choosing input variable should make as far as possible
The degree of coupling between each subsystem is minimum, thus obtains relationship and corresponding state between input variable and state variable
Constraint.
Step 3: according to actual needs, design optimization target, selected optimization aim is respectively as follows: the rate of emptying, shape ruler
Very little, total weight, optimization process to empty that rate improves as far as possible, outer dimension is relatively reasonable, total weight is minimum.
Underwater unmanned vehicle empties rate are as follows:
Wherein Vused=Vbow+Vmid+Vstern,(Ω is underwater unmanned vehicle
It is closed enveloping surface).
The total weight of underwater unmanned vehicle are as follows: Muuv=Mbow+Mmid+Mstern
Step 4: according to actual limitation, corresponding constraint condition is listed, the constraint condition of selection is respectively dive depth
Degree, cruising speed, Diving Time, payload, total weight, outer dimension, buoyancy adjustment ability, trim regulating ability etc..
The constraint condition of design variable, the constraint condition of state variable, bound for objective function are collectively constituted most
Whole constraint condition:
S.t.:gi(Xi,xsi)≤0, i=1 ..., N
Step 5: according to the relationship of design variable and optimization object function in step 2 in subsystem model, using can
The method of variable fidelity modeling reduces the phenomenon that complexity caused by the coupling of design variable increases.
If fd(x) indicate the analysis of accurate model as a result, fs(x) indicate the analysis of naive model as a result, wherein scale factor
Are as follows: σ (x)=fd(x)/fs(x), in order to improve the precision of model, the control with changed scale factor: σ (x)=σ (x can be used0)+σ′(x0)·
(x- x0), x0For iteration initial point.
Step 6: each relatively independent subsystem is carried out respectively according to final optimization pass objective function in conjunction with Fig. 3
Optimization, respectively obtains the optimum results of each subsystem, and its objective function is passed to top layer control layer.
Step 7: top layer control layer is optimized by the calculating that iterates, and state variable is not between solving each subsystem
The problem of coordination, obtains final optimum results.Final optimum results should be one group of Pareto equilibrium solution, due to actual demand
To emptying, rate requirement is higher, and selection wherein empties one group of relatively high solution of rate.
Fig. 1 is the flow chart of entire master-plan, is designed analysis and iterative process according to flow chart, finally obtains
Required Pareto equilibrium solution.
A kind of underwater autonomous underwater vehicle lower coupling layer architecture of open modular construction optimization method step by step, in master-plan
In the process using open Modular Structure Design, and the layering step by step of weak coupling is carried out to whole system, be decomposed into multiple points
Then system and affiliated overall control layer carry out variable complexity modeling to mathematical model, set the rate of emptying as target letter
Number, is iterated and is optimized to objective function according to Optimizing Flow, finally obtain required optimal solution.
Each task function subsystem, equipment independence pressure-bearing and, arrangement integrated according to the demands modularization such as function, interface relationship
In the non-pressure-resistance structure of aircraft, each intermodule is relatively independent, in addition to a few coupling variable, avoids coupling as far as possible, reduces
Overall degree of coupling；Intermodule can be communicated and be cooperated with other modules while keeping respectively working normally,
Realize final design function and performance indicator.
Entire global optimization process is layered, is decomposed into multiple subsystems and affiliated overall control layer, first
Each subsystem respectively optimizes objective function, coupling variable is then transferred to overall control layer, by totally controlling
Preparative layer carries out the transmitting and coordination between each subsystem to coupling variable, and iterates and optimize.
Empty rate are as follows:
Wherein Vused=Vbow+Vmid+Vstern,(Ω is underwater unmanned vehicle
Profile lines are closed enveloping surface).
By setting the rate of emptying as objective function, rate promotion will be emptied in optimization process, so that the integrated level of entire UUV
It greatly improves, so that inner space is maximally utilized while reducing the subsystem degree of coupling using open moduleization design,
Improve submariner device overall performance.
If fd(x) indicate the analysis of accurate model as a result, fs(x) indicate the analysis of naive model as a result, wherein scale factor
Are as follows: σ (x)=fd(x)/fs(x), in order to improve the precision of model, the control with changed scale factor: σ (x)=σ (x can be used0)+σ′(x0)·
(x- x0), x0For iteration initial point.
Relaxation factor ε=0.001 is set when computing system level consistency constrains, representing allows existing error, accelerates to change
For speed, and reduce solution difficulty.
The total weight of underwater unmanned vehicle are as follows: Muuv=Mbow+Mmid+Mstern。
All input variables are enabled to form vector x, output vector is that the transformation U (x) of input vector is true according to the actual situation
Determine the constraint condition of x itself: inf { x }≤x≤sup { x } and inequality constraints: g (x, U (x)≤0.
Optimization algorithm process is as follows:
System-level optimization:
Min:F(z)
The optimization of subsystem grade:
Constraint condition:
S.t.:gi(Xi,xsi)≤0, i=1 ..., N.
Claims (6)
1. a kind of underwater autonomous underwater vehicle lower coupling layer architecture optimization method step by step, which comprises the following steps:
(1) entire underwater unmanned vehicle is decomposed into open sub-module, intermodule function opposite independent, and according to
The frame of underwater unmanned vehicle is classified as two main levels, and first level is control layer, and second level is underwater
The subsystem that unmanned vehicles are included；
(2) mathematical model of subsystem is designed；
(3) according to actual needs, design optimization target；
(4) according to actual limitation, corresponding constraint condition is listed；
(5) according to final optimization pass objective function, each relatively independent subsystem is optimized respectively, is respectively obtained each
The optimum results of a subsystem, and its objective function is passed into top layer control layer；
(6) top layer control layer is optimized by the calculating that iterates, and solves between each subsystem that state variable is uncoordinated to ask
Topic, obtains final optimum results, and final optimum results should be one group of Pareto equilibrium solution, since actual demand is to emptying rate
It is required that high, selection wherein empties one group of high solution of rate.
2. a kind of underwater autonomous underwater vehicle lower coupling layer architecture according to claim 1 optimization method step by step, feature
Be: in the step (1), the opening modular construction refers to each task function subsystem, equipment independence pressure-bearing and basis
Function, interface relationship modularization are integrated, are arranged in the non-pressure-resistance structure of aircraft, each intermodule is relatively independent, reduces overall
Degree of coupling；Intermodule can be communicated and be cooperated with other modules while keeping respectively working normally.
3. a kind of underwater autonomous underwater vehicle lower coupling layer architecture according to claim 1 optimization method step by step, feature
Be: in the step (2), the mathematical model chooses the input variable needed, and should be made by choosing input variable by each point
The degree of coupling between system is minimum, thus obtains relationship and corresponding state constraint between input variable and state variable.
4. a kind of underwater autonomous underwater vehicle lower coupling layer architecture according to claim 1 optimization method step by step, feature
Be: in the step (3), the optimization aim is respectively as follows: the rate of emptying, outer dimension, total weight, and optimization process to set
Empty rate improves as far as possible, outer dimension is relatively reasonable, total weight is minimum.
5. a kind of underwater autonomous underwater vehicle lower coupling layer architecture according to claim 1 optimization method step by step, feature
Be: in the step (4), the constraint condition is respectively submerged depth, cruising speed, Diving Time, payload, total
Weight, outer dimension, buoyancy adjustment ability, trim regulating ability.
6. a kind of underwater autonomous underwater vehicle lower coupling layer architecture according to claim 3 optimization method step by step, feature
Be: in the mathematical model, the relationship of design variable and optimization object function in subsystem model, use can complicate
The method of degree modeling reduces the phenomenon that complexity caused by the coupling of design variable increases.
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