CN109460058B - Underwater butt joint transverse moving control method for tail-propelled low-speed underwater vehicle - Google Patents
Underwater butt joint transverse moving control method for tail-propelled low-speed underwater vehicle Download PDFInfo
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- CN109460058B CN109460058B CN201811401335.9A CN201811401335A CN109460058B CN 109460058 B CN109460058 B CN 109460058B CN 201811401335 A CN201811401335 A CN 201811401335A CN 109460058 B CN109460058 B CN 109460058B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The invention provides an underwater docking traversing control method of a tail-propelled low-speed underwater vehicle, which is characterized in that in the sailing process of a UUV, the transverse distance between the UUV and the central axis of a docking device is calculated, when the transverse distance is larger, a traversing algorithm 1 is executed, otherwise, a traversing algorithm 2 is executed. The traversing algorithm 1 specifically comprises: controlling the UUV to rotate to a specific angle psi towards the direction of the central axis of the docking device by taking the current heading psi as a reference1After straight sailing for a certain time, rotating back to the heading psi, and then adjusting the heading according to the guidance information; the traversing algorithm 2 specifically comprises: controlling the UUV to rotate to a certain angle psi towards the central axis direction of the docking device by taking the current heading psi as a reference2Execute Ψ2And after finishing, immediately rotating back to the heading psi, then adjusting the heading according to the guidance information, and repeatedly executing the traversing algorithm 2 until the butting device is approached. The invention ensures that the UUV can gradually approach to the central axis of the docking device through the traversing control, so that the UUV obtains better detection conditions, and is convenient for implementing accurate space maneuvering control, thereby improving the docking success rate.
Description
Technical Field
The invention relates to the technical field of underwater vehicle control, in particular to a transverse movement control method suitable for butt joint of a low-speed underwater vehicle adopting single tail propulsion and an underwater butt joint device.
Background
With the continuous development of information technology, unmanned low-speed underwater vehicles (UUV) as one of powerful tools for exploring ocean space play an increasingly important role in military and scientific research. Future UUVs require longer underwater operation time, more covert information gathering capabilities and more powerful communication capabilities, and the realization of these goals is mainly limited by the energy sources carried by themselves and underwater communication. Therefore, underwater docking devices are very important as replenishment support and information exchange systems.
At present, various docking systems are emerging at home and abroad, and can be divided into an all-directional docking device and a single-directional docking device according to the structural requirements of a docking cooperation target. The all-dimensional butt joint device is complex in structure, and the single-direction butt joint device is simple in design and easy to achieve. The unidirectional docking device is usually of a conical structure, is anchored to the sea bottom through a cable, is simple in design and has a definite orientation, but is generally small in size. The UUV matched with the single-direction butt joint device is small in size, the diameter of the UUV can be directly increased by using a plurality of groups of propellers, butt joint is not facilitated, the UUV can only adopt single tail propulsion, high requirements are provided for a control system of the UUV, and good control algorithms are needed for stable control and butt joint control of the UUV.
The applicant believes that in the docking control, the UUV should be controlled to navigate to the docking device according to a preset azimuth or guidance information when the UUV is far away from the docking device, and should be controlled to gradually turn to the direction of the docking device when the UUV is close to the docking device. In order to provide better detection conditions for a guide system and provide favorable situation for final accurate docking, the UUV is controlled to gradually move transversely in the approaching process, so that the navigation path of the UUV tends to the central axis of the docking device, the UUV has better detection and control conditions, accurate space maneuvering control is facilitated, and the docking success rate is improved.
Disclosure of Invention
In the butt joint control, when the included angle between the UUV course and the heading direction of the butt joint device is large, detection of a guide system is not facilitated, and end-range accurate butt joint control is also not facilitated.
The principle of the invention is as follows:
and in the UUV navigation process, the transverse distance between the UUV and the central axis of the docking device is calculated according to the distance between the UUV and the docking device and the course included angle, when the transverse distance is larger, a transverse moving algorithm 1 is executed, the UUV is controlled to transversely move in a large range towards the central axis of the docking device, otherwise, a transverse moving algorithm 2 is executed, and micro-movement is executed. The traversing algorithm 1 specifically comprises: controlling the UUV to rotate to a specific angle psi towards the central axis direction of the docking device by taking the current heading psi as a reference1After straight sailing for a certain time, rotating back to the heading psi, and then adjusting the heading according to the guidance information; the traversing algorithm 2 specifically comprises: controlling the UUV to rotate to a certain angle psi towards the central axis direction of the docking device by taking the current heading psi as a reference2(Ψ2Should not be greater than half of the guide fan angle), Ψ is performed2And after finishing, immediately rotating back to the heading psi, then adjusting the heading according to the guidance information, and repeatedly executing the traversing algorithm 2 until the butting device is approached.
The technical scheme of the invention is as follows:
the underwater docking and traversing control method for the tail-propelled low-speed underwater vehicle is characterized by comprising the following steps: the method comprises the following steps:
step 1: in the navigation process that the underwater vehicle points to the docking device according to the acoustic guidance information, calculating the transverse distance between the underwater vehicle and the central axis of the docking device according to the current heading psi and the distance between the underwater vehicle and the docking device; wherein the central axis of the butt joint device is positioned in the direction of which the course angle is 0; when the transverse distance between the underwater vehicle and the central axis of the docking device is larger than a set threshold value, performing step 2, otherwise, performing step 3;
step 2: controlling the underwater vehicle to deflect towards the central axis of the docking device, wherein the heading angle instruction is as follows:
ψH＝|ψ|+ψ1
in the formula psiHIs a heading angle command value, psi1The course angle increment is preset; underwater vehicle according to psiHAfter the straight navigation is carried out for a set time, the course angle is controlled to rotate back to psi, and when the course angle of the underwater vehicle returns to psi, the direction of the underwater vehicle is adjusted according to the acoustic guidance information, so that the underwater vehicle can pointNavigating to the docking device; returning to the step 1;
and step 3: controlling the underwater vehicle to deflect towards the central axis of the docking device, wherein the heading angle instruction is as follows:
in the formula psiHIs the heading angle command value, psi2Is a preset course angle increment, and
ψdn is the number of times step 3 is executed for guiding the fan angle; when the heading angle of the underwater vehicle reaches psiHThen, the course angle command psi is executed immediatelyHWhen the heading angle of the underwater vehicle returns to psi, the underwater vehicle is adjusted to point according to the acoustic guidance information, so that the underwater vehicle points to the docking device for navigation;
and 4, step 4: and (5) repeatedly executing the step (3) until the transverse distance between the underwater vehicle and the central axis of the docking device is smaller than a preset value, and controlling the underwater vehicle to point to the docking device for straight navigation.
In a further preferred scheme, the method for controlling the underwater butt joint and transverse moving of the tail-propelled low-speed underwater vehicle is characterized in that: psi1Not less than 30.
Advantageous effects
The invention is suitable for docking control of a low-speed underwater vehicle and a docking device which are propelled by a single tail, and considers large-range transverse movement and small-range micro-movement, so that a UUV gradually approaches to the central axis of a docking interface in the process of navigation, favorable conditions are provided for guidance detection and docking control, small-angle accurate space maneuvering is convenient to implement, and the docking success rate can be greatly improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1: butt-joint traversing control schematic.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
As shown in fig. 1, an underwater docking traversing control method for a tail-propelled low-speed underwater vehicle in the embodiment includes the following steps:
step 1: in the navigation process that the underwater vehicle points to the docking device according to the acoustic guidance information, calculating the transverse distance between the underwater vehicle and the central axis of the docking device according to the current heading psi and the distance between the underwater vehicle and the docking device; wherein the central axis of the butt joint device is positioned in the direction of which the course angle is 0; when the transverse distance between the underwater vehicle and the central axis of the docking device is larger than a set threshold, performing the step 2, otherwise, performing the step 3;
step 2: controlling the underwater vehicle to deflect towards the central axis of the docking device, wherein the heading angle instruction is as follows:
ψH＝|ψ|+ψ1
in the formula psiHIs the heading angle command value, psi1For a predetermined course angle increment, psi1Not less than 30 °; underwater vehicle according to psiHStraight voyage set time T1Thereafter, the control heading angle is rotated back to ψ, where T1The docking device is controlled within the range that the underwater vehicle does not cross the central axis of the docking device and can detect the docking device through sound guidance after the underwater vehicle transversely moves; after the heading angle of the underwater vehicle returns to psi, the pointing direction of the underwater vehicle is adjusted according to the acoustic guidance information, so that the underwater vehicle points to the docking device for navigation; returning to the step 1;
and step 3: controlling the underwater vehicle to deflect towards the central axis of the docking device, wherein the heading angle instruction is as follows:
in the formula psiHIs the heading angle command value, psi2Is a preset course angle increment, and
ψdn is the number of times step 3 is performed for guiding the fan angle; when the heading angle of the underwater vehicle reaches psiHThen, the course angle command psi is executed immediatelyHWhen the heading angle of the underwater vehicle returns to psi, the underwater vehicle is adjusted to point according to the acoustic guidance information, so that the underwater vehicle points to the docking device for navigation;
and 4, step 4: and (5) repeatedly executing the step (3) until the transverse distance between the underwater vehicle and the central axis of the docking device is smaller than a preset value, and controlling the underwater vehicle to point to the docking device for straight navigation.
The invention is suitable for docking control of a low-speed underwater vehicle and a docking device which are propelled by a single tail, and considers large-range transverse movement and small-range micro-movement, so that a UUV gradually approaches to the central axis of a docking interface in the process of navigation, favorable conditions are provided for guidance detection and docking control, small-angle accurate space maneuvering is convenient to implement, and the docking success rate can be greatly improved.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (1)
1. An underwater butt joint transverse moving control method for a tail-propelled low-speed underwater vehicle is characterized by comprising the following steps: the method comprises the following steps:
step 1: in the navigation process that the underwater vehicle points to the docking device according to the acoustic guidance information, calculating the transverse distance between the underwater vehicle and the central axis of the docking device according to the current heading psi and the distance between the underwater vehicle and the docking device; wherein the central axis of the butt joint device is positioned in the direction of which the course angle is 0; when the transverse distance between the underwater vehicle and the central axis of the docking device is larger than a set threshold, performing the step 2, otherwise, performing the step 3;
step 2: controlling the underwater vehicle to deflect towards the central axis of the docking device, wherein the heading angle instruction is as follows:
ψH＝|ψ|+ψ1
in the formula psiHIs the heading angle command value, psi1For a predetermined course angle increment, psi1Not less than 30 °; the underwater vehicle is according to psiHAfter the straight navigation is set for time, the heading angle is controlled to rotate back to psi, and when the heading angle of the underwater vehicle returns to psi, the heading of the underwater vehicle is adjusted according to the acoustic guidance information, so that the underwater vehicle can point to the docking device for navigation; returning to the step 1;
and step 3: controlling the underwater vehicle to deflect towards the central axis of the docking device, wherein the heading angle instruction is as follows:
in the formula psiHIs the heading angle command value, psi2Is a preset course angle increment, and
ψdn is the number of times step 3 is performed for guiding the fan angle; when the heading angle of the underwater vehicle reaches psiHThen, the course angle command psi is executed immediatelyHWhen the heading angle of the underwater vehicle returns to psi, the underwater vehicle is adjusted to point according to the acoustic guidance information, so that the underwater vehicle points to the docking device for navigation;
and 4, step 4: and (5) repeatedly executing the step (3) until the transverse distance between the underwater vehicle and the central axis of the docking device is smaller than a preset value, and controlling the underwater vehicle to point to the docking device for straight navigation.
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| CN112429169B (en) * | 2020-12-06 | 2023-08-04 | 西安精密机械研究所 | Low-flow-resistance profile curved surface construction method for non-rotary body underwater vehicle |
| CN112684811A (en) * | 2020-12-22 | 2021-04-20 | 西安精密机械研究所 | UUV reciprocating type docking route control method |
| CN114428507B (en) * | 2022-01-14 | 2023-07-07 | 哈工大机器人集团(杭州湾)国际创新研究院 | Vertical docking algorithm for shallow aircraft |
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