CN110641664A - Large heavy-load underwater glider and control method thereof - Google Patents
Large heavy-load underwater glider and control method thereof Download PDFInfo
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- CN110641664A CN110641664A CN201910895956.5A CN201910895956A CN110641664A CN 110641664 A CN110641664 A CN 110641664A CN 201910895956 A CN201910895956 A CN 201910895956A CN 110641664 A CN110641664 A CN 110641664A
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- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
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Abstract
The invention discloses a large heavy-load underwater glider and a control method thereof, wherein the glider comprises a glider body, a first buoyancy driving unit, a second buoyancy driving unit, an energy unit, a wing unit, a navigation positioning unit, a control unit, a vertical tail rudder and a posture adjusting unit, and the components arranged in the glider body from the front part to the tail part of the glider body are sequentially as follows: the device comprises a first buoyancy driving unit, an energy unit, a second buoyancy driving unit, a navigation positioning unit, a control unit and a vertical tail rudder; the posture adjusting unit is positioned below the energy unit and comprises a movable heavy object, a lead screw, a nut, a coupler and a posture adjusting motor. The invention provides a control strategy for realizing the grading type high-precision regulation of the pitching attitude of the whole machine through two buoyancy systems and an attitude regulation unit, can simply control and realize high-precision pitching attitude control, and also provides a navigation control strategy.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a large heavy-load underwater glider and a control method thereof.
Background
The traditional underwater glider is an underwater autonomous vehicle which can realize gliding and advancing in the sea by converting wing lifting force into horizontal power through controlling buoyancy of the traditional underwater glider. The traditional underwater glider is widely applied to ocean remote sensing and data acquisition, but only can walk in a zigzag track due to the fact that the traditional underwater glider is mainly driven by buoyancy and has very limited driving force, cannot pass through strong ocean currents, and cannot realize depth-fixed navigation so as to meet special detection requirements, such as depth-fixed networking, water quality investigation, landform detection and the like.
The existing underwater glider is small in size, 2-3m in length, about 200mm in diameter of a fuselage and 5-10kg in carrying capacity, is only suitable for carrying small sensors such as traditional CTD (computer to digital converter), turbulizers and the like, is difficult to carry more hydrological detection sensors simultaneously, is difficult to carry a plurality of parameters of marine environments measured at the same time and the same position, reduces the fusion degree among the parameters, brings difficulty to multi-hydrological information assimilation, can realize the carrying capacity of the large heavy-duty underwater glider to be more than 100kg, has the endurance mileage of 1000km, can carry a plurality of types of marine environment measuring equipment, realizes multi-parameter in-situ measurement, realizes multi-parameter fusion, greatly improves marine hydrological observation, and has important scientific research values for researching marine phenomena such as mesoscale vortex, inner wave, black tide and the like from multi-scale angles.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a large heavy-load underwater glider and a control method thereof.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a large-scale heavy load glider under water, includes glider fuselage, first buoyancy drive unit, second buoyancy drive unit, energy unit, wing unit, navigation positioning unit, the control unit, perpendicular tail vane and gesture adjusting unit, places the component unit inside the glider fuselage from glider fuselage bow to stern in proper order: the device comprises a first buoyancy driving unit, an energy unit, a second buoyancy driving unit, a navigation positioning unit, a control unit and a vertical tail rudder; the posture adjusting unit is positioned below the energy unit and comprises a movable heavy object, a lead screw, a nut, a coupler and a posture adjusting motor.
Furthermore, the glider body is made of glass fiber reinforced plastic; the first buoyancy drive unit includes: the device comprises a primary pump driver A, a high-grade pump driver A, a pull wire sensor A and an electromagnetic valve A; the second buoyancy drive unit comprises: the device comprises a primary pump driver B, a high-grade pump driver B, a pull wire sensor B and an electromagnetic valve B; the wing unit contains wing A and wing B that all have the same NACA airfoil, wing A contains leading edge A, trailing edge A and driving motor A, wing B contains leading edge B, trailing edge B and driving motor B, perpendicular tail vane includes perpendicular tail vane rotation terminal surface and perpendicular tail vane steering wheel.
Further, the control unit includes: deck software, a main controller, an electronic compass, inertial navigation, a power management module, an in-cabin pressure sensor, a pitching motor driver, a wireless module, a satellite communication module, an advanced pump driver A, a primary pump driver A, an advanced pump driver A, a primary pump driver B, an advanced pump driver B and a primary pump driver B; the navigation positioning unit comprises: GPS positioning, iridium satellite communication and positioning and Beidou communication and positioning.
The invention provides another technical scheme as follows:
a control method of a large heavy-load underwater glider comprises the steps that a control unit adopts a dual-control mode with a main controller and a secondary controller, inertial navigation is installed at the center of a whole glider, state information of an electronic compass, inertial navigation, an in-cabin pressure sensor and a power supply management module is directly obtained by the main controller, the state output end of the in-cabin pressure sensor is connected with an interrupt pin of the main controller, the power supply management module, the inertial navigation, the electronic compass and an altimeter are all connected with an I/O pin of the main controller through an A/D conversion module, analog quantity voltages of a pull wire sensor A and a pull wire sensor B are input into the main controller, the main controller controls a primary pump driver A, an advanced pump driver A, a primary pump driver B, an advanced pump driver B and a pitching motor driver through a CAN bus or an I2C bus, electromagnetic valves A and B are all connected with the main controller through an optical coupler or a, the main controller outputs PWM waves through an I/O pin to carry out angle control on a vertical tail rudder steering engine, a wing A steering engine and a wing B steering engine; the navigation data storage and reproduction are realized through the serial port and the main controller, and the auxiliary controller is in data interaction with the main controller through the serial port; the sub-controller can control the working mode and the working state of the task sensor, including sampling frequency, starting or stopping and delay time; data of the task sensor is stored in the SD card through the secondary controller, and the primary controller and the secondary controller can enable emergency load rejection.
Further, the control method of the large heavy-load underwater glider comprises two modes, specifically as follows:
(1) master-slave remote low-delay control;
the deck software carries out control data interaction with the main controller through the satellite communication module, then the deck software remotely carries out low-delay control on submergence, floating and steering of the large heavy-load underwater glider, the pitching angle, the yawing angle and the rolling angle of the underwater glider are measured through the triaxial electronic compass, the speed, the linear acceleration, the angular velocity and the angular acceleration of the underwater glider are measured through inertial navigation, and the measured speed, the linear acceleration, the angular velocity and the angular acceleration are transmitted back to the deck software through the satellite communication module through the main controller;
(2) autonomous navigation control of the large heavy-load underwater glider;
looking down the sea level, taking the vertical upward axis of the sea level as a rotating shaft L, and determining the actual course theta of the bow of the large heavy-load underwater glider according to the target course theta0When the angle is less than 180 degrees counterclockwise around the rotating shaft L, the angle theta is defined>θ0The actual course theta of the bow part of the large heavy-load underwater glider needs to be determined by the target course theta0When the angle is less than 180 degrees clockwise around the rotating shaft L, the angle theta is defined<θ0The rotation axis T of the vertical tail rudder is consistent with the parallel direction of the rotating shaft L, the trailing edges A and B of the wings A and B are rotated to be positive in the direction close to the water surface, and the large-scale heavy-load underwater glider sailing relative to a target can carry out autonomous sailing control by means of preset sailing and attitude angles when not receiving deck software control signals, wherein the autonomous sailing control comprises a course control strategy and a pitching control strategy.
Further, the heading control strategy is specifically as follows: the angle fixed value xi is more than 0, delta is more than xi, the actual course angle theta and the target navigation angle theta are taken0Difference delta theta is theta-theta0When delta theta is less than or equal to xi, the course is adjusted by a vertical tail vane, the trailing edges of the wing A and the wing B are kept at zero positions, and the adjustment quantity of the vertical tail vane is alpha-k (theta-theta)0)(k>0) (ii) a When xi < delta theta < delta, and theta>θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha k xi (k)>0) The trailing edge A of the wing A is kept at a zero position, and the trailing edge B of the wing B rotates by a certain angle beta1＝k1(Δθ-ξ)(k1>0) (ii) a When xi < delta theta ≦ delta, and theta<θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha-k xi (k)>0) The trailing edge B of the wing B is kept at a zero position, and the trailing edge A of the wing A rotates by a certain angle beta1＝k1(Δθ-ξ)(k1>0) (ii) a When delta is less than or equal to delta theta, and theta<θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha-k xi (k)>0) The trailing edge B of the wing B is kept at a zero position, and the trailing edge A of the wing A rotates by a certain angle beta1＝k1(δ-ξ)(k1>0) (ii) a When xi < delta theta < delta, and theta>θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha k xi (k)>0) The trailing edge A of the wing A is kept at a zero position, and the trailing edge B of the wing B rotates by a certain angle beta1＝k1(δ-ξ)(k1>0)；
The pitch attitude control strategy is specifically as follows: taking the pitching attitude angle of the current heavy-load underwater glider as phi, and gliding the current heavy-load underwater gliderWhen the fore part of the glider is higher than the stern part, phi is a positive value, otherwise, phi is a negative value, and the target pitching attitude angle is set to be phi0The real-time measurement value of the pitch attitude angle is phi1；
When phi is0When phi is less than or equal to-1, firstly, the moving weight of the attitude adjusting unit moves to the bow of the underwater glider, and when phi is less than-10-φ1When the oil is less than 0, the moving heavy object stops moving, the first buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, meanwhile, the second buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and the oil return and discharge process is continuously repeated until phi is more than minus 0.1 and less than phi0-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when-1 is not more than phi0When phi is less than 0, firstly, the moving heavy object of the attitude adjusting unit stops moving, the first buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, and simultaneously, the second buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and the oil return and discharge process is continuously repeated until phi is less than 0.10-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when phi is0When phi is more than or equal to 1, firstly, the moving weight of the attitude adjusting unit moves to the stern of the underwater glider, and when phi is more than 00-φ1When the oil is less than 1, the moving heavy object stops moving, the first buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, meanwhile, the second buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, and the oil return and discharge process is continuously repeated until phi is more than-0.1 and less than phi0-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when phi is more than or equal to 00When phi is less than 1, firstly, the moving heavy object of the attitude adjusting unit stops moving, the first buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and simultaneously the second buoyancy driving unit starts to discharge oil delta V from the outer leather bag to the oil tank, and the oil return and discharge process is continuously repeated until phi is less than 00-φ1If the buoyancy is less than 0.1, the first buoyancy driving unit and the second buoyancy driving unit stop oil returning and discharging.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the large heavy-duty underwater glider disclosed by the invention adopts the double-buoyancy driving system, so that the defects of low oil return speed, large volume, difficulty in processing and the like of a single-buoyancy driving system are overcome, the load capacity of the whole machine is greatly improved, the carrying requirements of various large sensors can be met, and the simultaneous in-situ measurement of different physical ocean information at the same ocean position is realized. The attitude adjusting unit of a common small-sized underwater vehicle controls the pitching attitude by depending on the relative position of a movable heavy object on an axis, but the large-sized heavy-load underwater glider has the diameter of more than 500mm, the length of the whole machine is not less than 2.5m, the weight is more than 700kg, the pitching attitude of the whole machine is adjusted only depending on the position of the traditional movable heavy object, and the high-precision control is difficult to achieve. The invention provides a control strategy for realizing the grading type high-precision adjustment of the pitching attitude of the whole machine through two buoyancy systems and an attitude adjusting unit, realizes the integral digit control of the attitude angle of the whole machine through the attitude adjusting unit, realizes the decimal digit control of the attitude angle of the whole machine through the differential control of the water discharge volumes of two identical buoyancy driving units symmetrically arranged about the mass center of the whole machine, has the advantages that the internal calculation process of a controller only has the conventional addition, subtraction, multiplication and division operation and size comparison, has simple control strategy, can realize the high-precision pitching attitude control, and simultaneously provides an autonomous navigation control strategy of a large heavy-load underwater glider.
Drawings
Fig. 1 is a schematic layout view of components of a large heavy-duty underwater glider in embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of a control relationship in embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of pitch attitude control logic according to embodiment 1 of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1:
as shown in fig. 1, fig. 2 and fig. 3, a large heavy-duty underwater glider and a control method thereof are provided, the large heavy-duty underwater glider comprises a glider body 1, a first buoyancy driving unit 2, a second buoyancy driving unit 3, an energy unit 4, a wing unit 5, a navigation positioning unit 6, a control unit 7, a vertical tail rudder 8 and an attitude adjusting unit 9, and the constituent units placed inside the glider body from the front part to the tail part of the glider body are sequentially: the device comprises a first buoyancy driving unit, an energy unit, a second buoyancy driving unit, a navigation positioning unit, a control unit and a vertical tail rudder; the posture adjusting unit is located below the energy unit and comprises a movable heavy object, a lead screw, a nut, a coupler and a posture adjusting motor.
The glider body is made of glass fiber reinforced plastic;
the first buoyancy drive unit includes: a primary pump driver A, a high-grade pump driver A, a pull wire sensor A and a solenoid valve A.
The second buoyancy drive unit comprises: a primary pump driver B, a high-grade pump driver B, a pull wire sensor B and an electromagnetic valve B.
The wing unit comprises a wing A and a wing B which both have the same NACA airfoil profile, wherein the wing A comprises a leading edge A, a trailing edge A and a driving motor A, and the wing B comprises a leading edge B, a trailing edge B and a driving motor B.
The vertical tail rudder comprises a vertical tail rudder rotating end face and a vertical tail rudder steering engine.
The control unit includes: deck software, a main controller, an electronic compass, inertial navigation, a power management module, an in-cabin pressure sensor, a pitch motor driver, a wireless module, a satellite communication module, an advanced pump driver A, a primary pump driver A, an advanced pump driver A, a primary pump driver B, an advanced pump driver B, and a primary pump driver B.
The navigation positioning unit comprises: GPS positioning, iridium satellite communication and positioning and Beidou communication and positioning.
The controller of the invention adopts a dual control mode with a main controller and a secondary controller, inertial navigation is installed at the body center of the whole glider, state information of an electronic compass, the inertial navigation, an in-cabin pressure sensor and a power management module is directly acquired by the main controller, the state output end of the in-cabin pressure sensor is connected with an interrupt pin of the main controller, the power management module, the inertial navigation, the electronic compass and an altimeter are all connected with an I/O pin of the main controller through an A/D conversion module, analog quantity voltages of a pull wire sensor A and a pull wire sensor B are input into the main controller, the main controller controls a primary pump driver A, an advanced pump driver A, a primary pump driver B, the advanced pump driver B and a pitching motor driver through a CAN bus or an I2C bus, the electromagnetic valve A and the electromagnetic valve B are all connected with the main controller through an optical coupler or a relay, the main controller outputs PWM waves through an I/O pin to carry out angle control on a vertical tail rudder steering engine, a wing A steering engine and a wing B steering engine; the navigation data storage and reproduction are realized through the serial port and the main controller, and the auxiliary controller is in data interaction with the main controller through the serial port; the sub-controller can control the working mode and the working state of the task sensor, including sampling frequency, starting or stopping and delay time; data of the task sensor is stored in the SD card through the secondary controller, and the primary controller and the secondary controller can enable emergency load rejection.
The control method of the large heavy-load underwater glider comprises two methods:
the first is master-slave remote low-delay control:
the control data interaction is carried out by deck software through a satellite communication module and a main controller, then the deck software remotely carries out low-delay control of submerging, floating and steering on the large heavy-load underwater glider, the pitching angle, the yawing angle and the rolling angle of the underwater glider are measured through a three-axis electronic compass, the speed, the linear acceleration, the angular velocity and the angular acceleration of the underwater glider are measured through inertial navigation, and the underwater glider is transmitted back to the deck software through the satellite communication module through the main controller.
The second type is autonomous navigation control of the large heavy-load underwater glider:
looking down the sea level, taking the vertical upward axis of the sea level as a rotating shaft L, and arranging the bow of the large heavy-load underwater gliderThe actual course theta of the target course theta is required to be determined by the target course theta0When the angle is less than 180 degrees counterclockwise around the rotating shaft L, the angle theta is defined>θ0The actual course theta of the bow part of the large heavy-load underwater glider needs to be determined by the target course theta0When the angle is less than 180 degrees clockwise around the rotating shaft L, the angle theta is defined<θ0The rotation axis T of the vertical tail rudder is consistent with the parallel direction of the rotating shaft L, the trailing edges A and B of the wings A and B are rotated to be positive in the direction close to the water surface, and the large-scale heavy-load underwater glider sails independently by depending on preset sailing and attitude angles when not receiving deck software control signals relative to a target sailing, and mainly has a course control strategy and a pitching control strategy.
Course control strategy: the angle fixed value xi is more than 0, delta is more than xi, the actual course angle theta and the target navigation angle theta are taken0Difference delta theta is theta-theta0When delta theta is less than or equal to xi, the course is adjusted by a vertical tail vane, the trailing edges of the wing A and the wing B are kept at zero positions, and the adjustment quantity of the vertical tail vane is alpha-k (theta-theta)0)(k>0) (ii) a When xi < delta theta < delta, and theta>θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha k xi (k)>0) The trailing edge A of the wing A is kept at a zero position, and the trailing edge B of the wing B rotates by a certain angle beta1＝k1(Δθ-ξ)(k1>0) (ii) a When xi < delta theta ≦ delta, and theta<θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha-k xi (k)>0) The trailing edge B of the wing B is kept at a zero position, and the trailing edge A of the wing A rotates by a certain angle beta1＝k1(Δθ-ξ)(k1>0) (ii) a When delta is less than or equal to delta theta, and theta<θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha-k xi (k)>0) The trailing edge B of the wing B is kept at a zero position, and the trailing edge A of the wing A rotates by a certain angle beta1＝k1(δ-ξ)(k1>0) (ii) a When xi < delta theta < delta, and theta>θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha k xi (k)>0) The trailing edge A of the wing A is kept at a zero position, and the trailing edge B of the wing B rotates by a certain angle beta1＝k1(δ-ξ)(k1>0)。
Pitching attitude control strategy: taking the pitch attitude angle of the current heavy-load underwater glider as phi whenWhen the bow part of the heavy-load underwater glider is higher than the stern part, phi is a positive value, otherwise, phi is a negative value, and the target pitching attitude angle is set to be phi0The real-time measurement value of the pitch attitude angle is phi1。
When phi is0When phi is less than or equal to-1, firstly, the moving weight of the attitude adjusting unit moves to the bow of the underwater glider, and when phi is less than-10-φ1When the oil is less than 0, the moving heavy object stops moving, the first buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, meanwhile, the second buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and the oil return and discharge process is continuously repeated until phi is more than minus 0.1 and less than phi0-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when-1 is not more than phi0When phi is less than 0, firstly, the moving heavy object of the attitude adjusting unit stops moving, the first buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, and simultaneously, the second buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and the oil return and discharge process is continuously repeated until phi is less than 0.10-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when phi is0When phi is more than or equal to 1, firstly, the moving weight of the attitude adjusting unit moves to the stern of the underwater glider, and when phi is more than 00-φ1When the oil is less than 1, the moving heavy object stops moving, the first buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, meanwhile, the second buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, and the oil return and discharge process is continuously repeated until phi is more than-0.1 and less than phi0-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when phi is more than or equal to 00When phi is less than 1, firstly, the moving heavy object of the attitude adjusting unit stops moving, the first buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and simultaneously the second buoyancy driving unit starts to discharge oil delta V from the outer leather bag to the oil tank, and the oil return and discharge process is continuously repeated until phi is less than 00-φ1If the buoyancy is less than 0.1, the first buoyancy driving unit and the second buoyancy driving unit stop oil returning and discharging.
The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. The utility model provides a large-scale heavy load glider under water, its characterized in that, includes glider fuselage, first buoyancy drive unit, second buoyancy drive unit, energy unit, wing unit, navigation positioning unit, the control unit, perpendicular tail vane and gesture adjusting unit, places the component unit in glider fuselage inside from glider fuselage bow to stern in proper order: the device comprises a first buoyancy driving unit, an energy unit, a second buoyancy driving unit, a navigation positioning unit, a control unit and a vertical tail rudder; the posture adjusting unit is positioned below the energy unit and comprises a movable heavy object, a lead screw, a nut, a coupler and a posture adjusting motor.
2. The large heavy-duty underwater glider according to claim 1, wherein the glider body is made of glass fiber reinforced plastic; the first buoyancy drive unit includes: the device comprises a primary pump driver A, a high-grade pump driver A, a pull wire sensor A and an electromagnetic valve A; the second buoyancy drive unit comprises: the device comprises a primary pump driver B, a high-grade pump driver B, a pull wire sensor B and an electromagnetic valve B; the wing unit contains wing A and wing B that all have the same NACA airfoil, wing A contains leading edge A, trailing edge A and driving motor A, wing B contains leading edge B, trailing edge B and driving motor B, perpendicular tail vane includes perpendicular tail vane rotation terminal surface and perpendicular tail vane steering wheel.
3. A large heavy duty underwater glider according to claim 1, wherein the control unit comprises: deck software, a main controller, an electronic compass, inertial navigation, a power management module, an in-cabin pressure sensor, a pitching motor driver, a wireless module, a satellite communication module, an advanced pump driver A, a primary pump driver A, an advanced pump driver A, a primary pump driver B, an advanced pump driver B and a primary pump driver B; the navigation positioning unit comprises: GPS positioning, iridium satellite communication and positioning and Beidou communication and positioning.
4. A large heavy-duty underwater glider control method is based on the large heavy-duty underwater glider of claim 1, and is characterized in that the control unit adopts a dual control mode with a main controller and a secondary controller, inertial navigation is installed at the center of the whole glider, state information of an electronic compass, inertial navigation, an in-cabin pressure sensor and a power management module is directly obtained by the main controller, the state output end of the in-cabin pressure sensor is connected with an interrupt pin of the main controller, the power management module, the inertial navigation, the electronic compass and an altimeter are all connected with an I/O pin of the main controller through an A/D conversion module, analog quantity voltages of a pull wire sensor A and a pull wire sensor B are input into the main controller, and the main controller inputs the primary pump driver A, the advanced pump driver A, the primary pump driver B and the advanced pump driver B through a CAN bus or an I2C bus, The pitch motor driver is used for controlling, the electromagnetic valve A and the electromagnetic valve B are both connected with a main controller through an optical coupler or a relay, and the main controller outputs PWM waves through an I/O pin to control the angles of the vertical tail rudder steering engine, the wing A steering engine and the wing B steering engine; the navigation data storage and reproduction are realized through the serial port and the main controller, and the auxiliary controller is in data interaction with the main controller through the serial port; the sub-controller can control the working mode and the working state of the task sensor, including sampling frequency, starting or stopping and delay time; data of the task sensor is stored in the SD card through the secondary controller, and the primary controller and the secondary controller can enable emergency load rejection.
5. The method for controlling the large heavy-load underwater glider according to claim 4, wherein the method for controlling the large heavy-load underwater glider comprises two modes, specifically as follows:
(1) master-slave remote low-delay control;
the deck software carries out control data interaction with the main controller through the satellite communication module, then the deck software remotely carries out low-delay control on submergence, floating and steering of the large heavy-load underwater glider, the pitching angle, the yawing angle and the rolling angle of the underwater glider are measured through the triaxial electronic compass, the speed, the linear acceleration, the angular velocity and the angular acceleration of the underwater glider are measured through inertial navigation, and the measured speed, the linear acceleration, the angular velocity and the angular acceleration are transmitted back to the deck software through the satellite communication module through the main controller;
(2) autonomous navigation control of the large heavy-load underwater glider;
looking down the sea level, taking the vertical upward axis of the sea level as a rotating shaft L, and determining the actual course theta of the bow of the large heavy-load underwater glider according to the target course theta0When the angle is less than 180 degrees counterclockwise around the rotating shaft L, the angle theta is defined>θ0The actual course theta of the bow part of the large heavy-load underwater glider needs to be determined by the target course theta0When the angle is less than 180 degrees clockwise around the rotating shaft L, the angle theta is defined<θ0The rotation axis T of the vertical tail rudder is consistent with the parallel direction of the rotating shaft L, the trailing edges A and B of the wings A and B are rotated to be positive in the direction close to the water surface, and the large-scale heavy-load underwater glider sailing relative to a target can carry out autonomous sailing control by means of preset sailing and attitude angles when not receiving deck software control signals, wherein the autonomous sailing control comprises a course control strategy and a pitching control strategy.
6. The method of claim 5, wherein the method comprises the steps of,
the course control strategy is as follows: the angle fixed value xi is more than 0, delta is more than xi, the actual course angle theta and the target navigation angle theta are taken0Difference delta theta is theta-theta0When delta theta is less than or equal to xi, the course is adjusted by a vertical tail vane, the trailing edges of the wing A and the wing B are kept at zero positions, and the adjustment quantity of the vertical tail vane is alpha-k (theta-theta)0)(k>0) (ii) a When xi < delta theta < delta, and theta>θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha k xi (k)>0) The trailing edge A of the wing A is kept at a zero position, and the trailing edge B of the wing B rotates by a certain angle beta1＝k1(Δθ-ξ)(k1>0) (ii) a When xi < delta theta ≦ delta, and theta<θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha-k xi (k)>0) The trailing edge B of the wing B is kept at a zero position, and the trailing edge A of the wing A rotates by a certain angle beta1＝k1(Δθ-ξ)(k1>0) (ii) a When delta is less than or equal to delta theta, and theta<θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha-k xi (k)>0) The trailing edge B of the wing B is kept at a zero position, and the trailing edge A of the wing A rotates by a certain angle beta1＝k1(δ-ξ)(k1>0) (ii) a When xi < delta theta < delta, and theta>θ0When the vertical tail rudder is adjusted, the adjustment quantity of the vertical tail rudder is alpha k xi (k)>0) The trailing edge A of the wing A is kept at a zero position, and the trailing edge B of the wing B rotates by a certain angle beta1＝k1(δ-ξ)(k1>0)；
The pitch attitude control strategy is specifically as follows: taking the pitch attitude angle of the current heavy-load underwater glider as phi, when the bow part of the heavy-load underwater glider is higher than the stern part, the phi is a positive value, otherwise, the phi is a negative value, and setting the target pitch attitude angle as phi0The real-time measurement value of the pitch attitude angle is phi1；
When phi is0When phi is less than or equal to-1, firstly, the moving weight of the attitude adjusting unit moves to the bow of the underwater glider, and when phi is less than-10-φ1When the oil is less than 0, the moving heavy object stops moving, the first buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, meanwhile, the second buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and the oil return and discharge process is continuously repeated until phi is more than minus 0.1 and less than phi0-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when-1 is not more than phi0When phi is less than 0, firstly, the moving heavy object of the attitude adjusting unit stops moving, the first buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, and simultaneously, the second buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and the oil return and discharge process is continuously repeated until phi is less than 0.10-φ1< 0 the first buoyancy driving unit andthe second buoyancy driving units stop oil return and discharge actions;
when phi is0When phi is more than or equal to 1, firstly, the moving weight of the attitude adjusting unit moves to the stern of the underwater glider, and when phi is more than 00-φ1When the oil is less than 1, the moving heavy object stops moving, the first buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, meanwhile, the second buoyancy driving unit starts to return oil delta V from the outer leather bag to the oil tank, and the oil return and discharge process is continuously repeated until phi is more than-0.1 and less than phi0-φ1If the buoyancy is less than 0, the first buoyancy driving unit and the second buoyancy driving unit stop oil return and discharge actions;
when phi is more than or equal to 00When phi is less than 1, firstly, the moving heavy object of the attitude adjusting unit stops moving, the first buoyancy driving unit starts to discharge oil delta V from the oil tank to the outer leather bag, and simultaneously the second buoyancy driving unit starts to discharge oil delta V from the outer leather bag to the oil tank, and the oil return and discharge process is continuously repeated until phi is less than 00-φ1If the buoyancy is less than 0.1, the first buoyancy driving unit and the second buoyancy driving unit stop oil returning and discharging.
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