CN110750099B - Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship - Google Patents
Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship Download PDFInfo
- Publication number
- CN110750099B CN110750099B CN201911006464.2A CN201911006464A CN110750099B CN 110750099 B CN110750099 B CN 110750099B CN 201911006464 A CN201911006464 A CN 201911006464A CN 110750099 B CN110750099 B CN 110750099B
- Authority
- CN
- China
- Prior art keywords
- depth
- elevator
- linear motor
- unmanned ship
- course angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 13
- 230000008859 change Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract description 3
- 230000004043 responsiveness Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention discloses a driving device, a control system and a control method for course angle and depth of a semi-submersible unmanned ship. The device comprises a depth control mechanism, a course angle and depth control driving module and a course angle control mechanism; the course angle control mechanism comprises an upper connecting shaft and a lower connecting shaft of the rudder linear motor, and an upper rudder blade and a lower rudder blade; the depth control mechanism comprises an elevator linear motor, a screw slide rail provided with an elevator slide block, a left elevator blade and a right elevator blade, and the course angle and depth control driving module can control the steering elevator linear motor and the elevator linear motor. The advantages are that: the unmanned aerial vehicle steering or lifting mechanical component assembly device is ingenious in structural design, convenient to install and high in automation degree, achieves the unmanned aerial vehicle course angle and depth control function, is high in integration degree, greatly reduces the assembly difficulty of the traditional semi-submersible unmanned aerial vehicle steering or lifting mechanical component, and improves the accuracy and responsiveness of unmanned aerial vehicle motion control.
Description
Technical Field
The invention relates to an unmanned ship control technology, in particular to a semi-submersible unmanned ship course angle and depth driving device, a control system and a control method.
Background
The development and utilization of ocean resources have become a world trend; the unmanned ship is an emerging ocean device with low maintenance cost and high use efficiency, which is an important device necessary for deepening ocean resource development and national ocean benefit protection, because the unmanned ship is difficult to fully utilize ocean resources due to the natural conditions of the ocean and the physiological conditions of human beings and is driven and operated by human beings alone; the unmanned ship has the key advantages that the unmanned ship can navigate autonomously intelligently, the unmanned ship can navigate autonomously, the unmanned ship can be controlled in operation, the unmanned ship comprises a course angle and accurate control on navigation depth, the current semi-submersible unmanned ship is not stable enough in navigation depth control during autonomous navigation, or a depth control system is complex in device, high in cost and inconvenient to install.
Under normal circumstances, the current conventional unmanned ship navigation control system has two types of course angle and depth control, and one of them is a motion control solution applicable to a method and system for controlling the course of a sailing ship, as disclosed in chinese patent (application No. 201310542379.4), and a method for determining the course of the ship according to the compensation value and the output value of rudder angle is provided. The system comprises a wind sensor, a sail angle control device, a first sail angle sensor, a feedforward controller, a drift angle sensor, a rudder angle controller and a rudder angle servo device; the optimal angle of the sail can be adjusted according to the wind power and the wind direction so as to realize the course control of the ship. The second type discloses an underwater robot control system based on a mobile phone bluetooth technology as disclosed in chinese patent (application No. 201410412158. X), the device communicates with an underwater robot through a bluetooth device, a buoy is connected with the underwater robot through a zero-buoyancy cable for data transmission, and a main control board of a processing system acquires the actual depth of the underwater robot and the actual gesture acquired by a gesture control board through a depth sensor to control the rotating speed and the steering of a propeller so as to realize functions of underwater hovering, depth fixing and the like.
The first method only relates to a part of method and proposal of a steering control system for a sail ship, the system needs a wind sensor, a sail angle control device, a first sail angle sensor, a feedforward controller, a drift angle sensor, a rudder angle controller and the like on a hardware structure of the ship, the system has a complex structure and large occupied space, is more suitable for large ships rather than semi-submersible small unmanned ships, and the unmanned ships have larger influence on the volume of the unmanned ships due to the temperature, the salinity and the depth of a water body during navigation, has higher requirements on a control algorithm and is easy to cause the unmanned ships to generate a bottoming phenomenon; the second method in the above method relates to an underwater robot control system based on the mobile phone Bluetooth technology, which utilizes a depth sensor and a gesture control board to acquire the real-time gesture of the underwater robot to control the rotating speed and the steering of a propeller so as to realize the underwater hovering and depth setting functions, and more emphasizes that the state monitoring of the underwater robot is realized through the mobile phone Bluetooth technology, and the heading and the depth control of the underwater robot cannot be realized well.
Disclosure of Invention
The invention aims to solve the technical problem of providing a semi-submersible unmanned ship course angle and depth driving device, a control system and a control method, which have high integration level and convenient installation and can improve the accuracy and responsiveness of unmanned ship motion control.
In order to solve the technical problems, the semi-submersible unmanned ship course angle and depth driving device comprises a depth control mechanism arranged at the front part of the unmanned ship, a course angle and depth control driving module arranged at the middle part of the unmanned ship and a course angle control mechanism arranged at the tail part of the unmanned ship; the course angle control mechanism comprises a rudder linear motor, an upper connecting shaft, a lower connecting shaft, a rudder blade and a rudder blade, wherein the upper connecting shaft and the lower connecting shaft can be driven by the rudder linear motor to synchronously act, and the rudder blade is arranged on the upper connecting shaft; the depth control mechanism comprises an elevator linear motor, a screw slide rail provided with an elevator slide block, a left elevator blade and a right elevator blade which are positioned above the elevator linear motor and can synchronously rotate, and the course angle and depth control driving module can control the elevator linear motor and the elevator linear motor.
The steering linear motor is matched with a screw slide rail provided with a steering wheel slide block and can drive the steering wheel slide block to reciprocate on the screw slide rail, a shifting fork and a rocker matched with the shifting fork are arranged on the steering wheel slide block, a U-shaped crankshaft is fixedly arranged on the rocker, the upper connecting shaft and the lower connecting shaft are integrally arranged, and the U-shaped crankshaft is arranged between the upper connecting shaft and the lower connecting shaft.
The left elevator blade and the right elevator blade reciprocate on the screw slide rail through the elevator slide block and are driven to rotate through a steering structure.
The elevator linear motor is arranged on the base of the elevator, and a plurality of infrared photoelectric switches used for recording the movement position of the elevator sliding block are arranged on the base of the elevator.
The rudder linear motor is arranged on a base of the rudder, and a plurality of infrared photoelectric switches used for recording the movement position of the rudder slide block are arranged on the base of the rudder.
The system comprises a PLC controller, a rudder linear motor driver, an elevator linear motor driver, a direction position control module, an elevating position control module, an attitude sensor, a depth sensor and a battery unit, wherein the rudder linear motor is connected with the rudder linear motor driver through a signal line; the elevator linear motor is connected with an elevator motor driver through a signal wire; the PLC is integrated with a PWM output module, a digital quantity signal input/output module, an ADC analog signal input/output module and a serial port communication module; the PWM output module is connected with the rudder linear motor driver and the elevator linear motor driver through signal wires, the ADC analog signal input/output module is connected with the attitude sensor and the depth sensor through signal wires, and the digital signal input/output module is connected with each infrared photoelectric switch through signal wires; the serial port communication module is communicated with the upper PC through a communication line, so that the command of the upper PC can be received and real-time data of the PLC can be fed back.
A control method based on a semi-submersible unmanned ship course angle and depth control system comprises the following steps:
Step (1): after the control system is electrified, initializing, and in the initialization process, initializing a PLC controller, a direction position control module, a lifting position control module and a course angle control mechanism and a depth control mechanism;
step (2): the control system reads the expected heading and navigation depth targets of the unmanned ship and converts target data into rudder turning and elevator turning angles at specific moments;
Step (3): judging whether the unmanned ship reaches a target course after turning, if the unmanned ship does not reach the target course, immediately calling course parameters in the PLC, driving the rudder linear motor to rotate, further driving the upper rudder blade and the lower rudder blade to swing, enabling the course of the unmanned ship to change until the unmanned ship reaches the target course, and further judging whether the navigational depth reaches the target required by the instruction after the unmanned ship reaches the expected course;
Step (4): after judging that the navigation depth of the unmanned ship does not meet the instruction requirement, the system also calls depth parameters in the PLC to drive the elevator linear motor to rotate, so as to drive the left elevator blade and the right elevator blade to rotate, and adjust the angles of the left elevator blade and the right elevator blade until the navigation depth reaches the target navigation depth;
8. The control method based on the semi-submersible unmanned ship course angle and depth control system according to claim 7, wherein: the course parameter and the depth parameter are adjusted as follows: firstly, a control system sends a target course angle SP (T) and a navigation depth value SB (T) of an unmanned ship to a PLC (programmable logic controller) on the unmanned ship, and a control dead zone DeltaP, an initial proportional gain K P, an integral coefficient K I and a differential coefficient T 1 are preset in a program of the PLC; the attitude sensor and the depth sensor measure the actual course angle PV (t) and the actual depth value PB (t) of the unmanned ship in real time, and when the course angle or the sailing depth is larger or smaller than a set target value, the rudder linear motor and the elevator linear motor act to repeatedly iterate to complete tracking control of the target course angle and the sailing depth.
The invention has the advantages that:
1. The horizontal elevator and the vertical rudder are adopted to control the course angle and the navigation depth of the semi-submersible unmanned ship when the semi-submersible unmanned ship navigates in sea water on the mechanical structure, and specific mechanical mechanisms such as a U-shaped shaft, a rocker, a shifting fork, a sliding block and the like are used, so that the axis of the rudder stock of the mechanical transmission structure is not interfered with the main shaft from the main motor of the unmanned ship to the main shaft of the propeller, and meanwhile, the mechanical mechanisms are fixedly connected by bolts, so that the semi-submersible unmanned ship is convenient and reliable and is convenient to install and detach;
2. On a control system, a control part in the course angle and depth control system adopts a hardware control framework combining a micro inertial navigation attitude sensor, a depth sensor, an infrared photoelectric switch, a rudder linear motor, an elevator linear motor and a programmable controller, a course PID self-tuning adjustment algorithm and a depth PID self-tuning adjustment algorithm are adopted in a software control program, the high accuracy and high stability of PID control are combined with the rapidity and small overshoot of the fuzzy self-tuning algorithm, and finally the fine adjustment of the course angle and the navigation depth is finished through the control of the self-tuning PID adjustment algorithm, so that the problem of larger oscillation in a control amount rising interval existing in the traditional manual remote control adjustment or the traditional PID course controller is avoided.
3. The integrated mechanical structure and the control system are organically combined to supplement each other, so that the unmanned aerial vehicle steering or lifting mechanical component is ingenious in structural design, convenient to install and high in automation degree, the heading angle and depth control function of the unmanned aerial vehicle are realized, the heading and navigation depth control requirements of semi-submersible unmanned aerial vehicles or underwater vehicles of different sizes and different types can be met, the integration level is high, the assembly difficulty of the traditional semi-submersible unmanned aerial vehicle steering or lifting mechanical component is greatly reduced, and the accuracy and responsiveness of unmanned aerial vehicle motion control are improved.
Drawings
FIG. 1 is a schematic block diagram of a semi-submersible unmanned boat heading angle and depth control system of the present invention;
FIG. 2 is a schematic diagram of a course angle control mechanism according to the present invention;
FIG. 3 is a schematic view of a depth control mechanism according to the present invention;
FIG. 4 is a flow chart of course parameter and depth parameter settings in accordance with the present invention.
Detailed Description
The course angle and depth driving device, the control system and the control method of the semi-submersible unmanned ship are further described in detail below with reference to the accompanying drawings and the detailed description.
Embodiment one:
As shown in the figure, the semi-submersible unmanned ship course angle and depth driving device comprises a depth control mechanism arranged at the front part of the unmanned ship, a course angle and depth control driving module arranged at the middle part of the unmanned ship and a course angle control mechanism arranged at the tail part of the unmanned ship; the course angle control mechanism comprises a rudder linear motor 17, an upper connecting shaft 23 and a lower connecting shaft 24 which can be driven by the rudder linear motor 17 to synchronously act, an upper rudder blade 25 arranged on the upper connecting shaft 23 and a lower rudder blade 26 arranged on the lower connecting shaft 24, the rudder linear motor 17 is matched with a screw slide rail provided with a rudder slide block 20, the rudder linear motor 17 rotates to drive the rudder slide block 20 to reciprocate on the screw slide rail, a shifting fork 18 and a rocker 19 matched with the shifting fork are arranged on the rudder slide block 20, a U-shaped crankshaft 22 is fixedly arranged on the rocker 19, the upper connecting shaft 23 and the lower connecting shaft 24 are integrally arranged, the U-shaped crankshaft 22 is arranged between the upper connecting shaft 23 and the lower connecting shaft 24, the shifting fork 18 arranged on the rudder slide block 20 drives the rocker 19 to swing, then the U-shaped crankshaft 22 connected with the rocker by bolts in sequence, the upper connecting shaft 23, the lower connecting shaft 24, the upper rudder blade 25 and the lower rudder blade 26 rotate, finally, the course angle control mechanism of the unmanned ship is realized, the course angle control mechanism is similar to the course angle control mechanism, the left and right control mechanism comprises a rudder linear motor 27, the left and the left control mechanism is matched with the elevator slide rail 27 by means of the conventional elevator slide rail and the elevator 30, and the left control mechanism is driven to reciprocate on the left and the elevator slide rail 30 by the left and the elevator slide 30, and the elevator slide 30 by the left and the elevator, and the elevator 30, and the left control mechanism is driven by the left and the elevator, and the speed by the speed control. The heading angle and depth control drive module 2 is able to control the rudder line 17 and the elevator line motor 27.
Further, the rudder linear motor 17 is mounted on the base of the rudder, a plurality of infrared photoelectric switches for recording the movement position of the rudder slide 20 are arranged on the base of the rudder, the elevator linear motor 27 is mounted on the base of the elevator, a plurality of infrared photoelectric switches for recording the movement position of the elevator slide 28 are arranged on the base of the elevator, for example, three infrared photoelectric switches are arranged on the base of the rudder linear motor, when the rudder slide 20 reciprocates, the infrared photoelectric switches can record the movement position of the slide, different positions correspond to the rotation angles of different rudders, three infrared photoelectric switches are also arranged on the base of the elevator linear motor, when the elevator slide 28 reciprocates, the infrared photoelectric switches can record the movement position of the slide, and different positions correspond to the rotation angles of different elevators.
Embodiment two:
The invention discloses a course angle and depth control system of a semi-submersible unmanned ship, which comprises a Siemens S7-224XP CN PLC controller 4, a rudder linear motor driver 5, an elevator linear motor driver 6, an EM253 direction position control module 7, an EM253 elevation position control module 8, a micro inertial navigation attitude sensor 16, a depth sensor 16 and a 24V lithium battery, wherein the Siemens S7-224XP CN PLC programmable controller 4, the rudder linear motor driver 5, the elevator linear motor driver 6, the EM253 direction position control module 7 and the EM253 elevation position control module 8 are sequentially arranged at the middle position of the semi-submersible unmanned ship to form a course angle and depth control driving module, the Siemens S7-224XP CN PLC programmable controller 4 is connected with the EM253 direction position control module 7 and the EM253 elevation position control module 8 through communication lines, the EM253 direction position control module 7 and the EM253 elevation position control module 8 are mainly divided into a rectification inversion interface and a PWM pulse output interface, the IGBT rectification inversion motor interface is connected with the 24V battery communication interface, and the PWM linear motor is connected with the rudder linear motor output interface through the rudder linear motor driver 17; the elevator linear motor 27 is connected with the elevator motor driver 6 through a signal wire; the Siemens S7-224XP CN PLC controller 4 is integrated with a PWR power supply module, a GPIO digital quantity signal input/output module, an ADC analog signal input/output module and a PROT0 serial port communication module; the PWR power supply module is connected with a 24V lithium battery through a power line, the ADC analog signal input/output module is connected with the micro inertial navigation attitude sensor 15 and the depth sensor 16 through signal lines, and the GPIO digital quantity signal input/output module is connected with a plurality of infrared photoelectric switches through signal lines; the PROT0 serial port communication module is communicated with an upper PC through a communication line, so that the command of the upper PC can be received and real-time data of the Siemens S7-224XP CN PLC controller 4 can be fed back, in addition, the micro inertial navigation attitude sensor 15 is arranged in a control cabin of the middle part of the unmanned plane and horizontally arranged, the depth sensor 16 is arranged at the head of the unmanned plane, the infrared photoelectric switch is respectively arranged on bases of the rudder linear motor and the elevator linear motor according to actual needs, and the 24V lithium battery supplies power to the Siemens S7-224XP CN PLC programmable controller 4, the EM253 direction position control module 7 and the EM253 depth position control module 8 through the PWR power module.
Embodiment III:
The invention discloses a control method based on a semi-submersible unmanned ship course angle and depth control system, which is characterized by comprising the following steps:
Step (1): after the control system is electrified, initializing, and in the initialization process, initializing Siemens S7-224XP CN PLC controller 4, initializing EM253 direction position control module 7 and EM253 lifting position control module 8, and resetting the course angle control mechanism and the depth control mechanism;
step (2): the control system reads the expected heading and navigation depth targets of the unmanned ship and converts target data into rudder turning and elevator turning angles at specific moments;
Step (3): judging whether the unmanned ship reaches a target course after turning, if the unmanned ship does not reach the target course, immediately calling a course PID self-tuning adjustment algorithm in the Siemens S7-224XP CN PLC controller 4, driving the rudder linear motor 17 to rotate, further driving the upper rudder blade 25 and the lower rudder blade 26 to swing so as to change the course of the unmanned ship until the unmanned ship reaches the target course, and further judging whether the navigation depth reaches the target required by the instruction after the unmanned ship reaches the expected course;
step (4): after judging that the navigation depth of the unmanned ship does not meet the instruction requirement, the system also calls a depth PID self-tuning adjustment algorithm in the Siemens S7-224XP CN PLC controller 4 to drive the elevator linear motor 27 to rotate so as to push the left elevator blade 29 and the right elevator blade 30 to rotate, and adjusts the angles of the left elevator blade 29 and the right elevator blade 30 until the target navigation depth is reached;
The course PID self-tuning adjustment algorithm and the depth PID self-tuning adjustment algorithm are set as follows: firstly, a control system sends a target course angle SP (T) and a navigation depth value SB (T) of an unmanned ship to a Siemens S7-224XP CN PLC controller 4 on the unmanned ship, and a control dead zone DeltaP, an initial proportional gain k p, an integral coefficient k 1 and a differential coefficient T 1 are preset in a program of the Siemens S7-224XP CN PLC controller 4; the micro inertial navigation attitude sensor 15 and the depth sensor 16 measure the actual heading angle PV (t) and the actual depth value PB (t) of the unmanned ship in real time, and when the heading angle or the navigation depth is greater than or smaller than a set target value, the rudder linear motor 17 and the elevator linear motor 27 act, and the tracking control of the target heading angle and the navigation depth is completed through repeated iteration.
The Siemens S7-224XP CN PLC programmable controller 4 samples, compares and calculates target values SP (t), SB (k) and actual values PV (t), PB (k) through an error judging device in each scanning period to obtain a real-time course angle error e (t) =PV (t) -SP (t); real-time depth error eb (t) =sb (t) -PB (t); the change rate of the heading angle error and the change rate of the depth error are e '(t) =pv (t) -PV (t-1) and eb' (t) =pb (t) -PB (t-1), respectively.
The control model for tracking the course angle is as followsThe control model of tracking depth is/>In the course angle or course depth adjusting process, the K P、KI、T1 parameter in the PID algorithm needs to be adjusted according to a pre-programmed knowledge base in the control program, and the main knowledge base can be expressed as:
Knowledge 1, if unmanned ship course angle or depth acceleration is greater than the set change speed, THEN decreases K P;
Knowledge 2, if unmanned ship course angle or depth acceleration is smaller than the set change speed, THEN increases K P;
knowledge 3, the course angle or depth acceleration of the IF unmanned ship is equal to the set change speed, and THEN K P is unchanged;
Knowledge 4, if unmanned ship course angle or depth deceleration is greater than the set change speed, THEN decreases K I;
knowledge 5, if unmanned ship course angle or depth deceleration is less than the set change speed, THEN increases K I;
Knowledge 6, if unmanned ship course angle or depth deceleration is equal to the set change speed, THEN K I is unchanged;
Knowledge 7, if unmanned ship course angle or depth is greater than the set course angle or depth value, THEN reduces T 1;
knowledge 8, if unmanned ship course angle or depth is smaller than the set course angle or depth value, THEN increases T 1;
Knowledge 9, the course angle or depth of the IF unmanned ship is equal to the set course angle or depth value, and THEN T 1 is unchanged;
in course angle and depth control, the deviation and change speed of course angle and course depth are monitored in real time, and the knowledge base is compared to make corresponding adjustment.
Further, in the course of controlling the heading angle and depth, when the dead zone e (k) >. DELTA.P, it indicates that the actual heading angle or depth reaches the upper limit of the target heading angle, at this time, the Siemens S7-224XP CN PLC programmable controller 4 sends a reverse signal to the rudder linear motor 17 or the elevator linear motor 26 to quickly reduce the heading angle or depth; otherwise, when the dead zone e (k) is less than delta P, the actual course angle or depth reaches the target value lower limit, and at the moment, the Siemens S7-224XP CN PLC programmable logic controller 4 sends a forward rotation signal to the rudder linear motor 17 or the elevator linear motor 27, and the rudder or elevator angle is rapidly increased, so that the aim of rapidly increasing the course angle and the depth is fulfilled. When the delta P is smaller than the e (k), the relative error between the actual course angle and the target value is smaller, the PID controller can be more stable and automatically overcome the influence of the error on the course and depth control system of the unmanned ship, the control quantity can be calculated according to the PI algorithm to adjust the rotation position, direction and speed of the rudder blade or the elevator blade in real time, and the stable and efficient control of the course angle and the navigation depth is ensured.
Through the control means, the working process of the semi-submersible unmanned ship course angle and depth control system provided by the invention is as follows: firstly, after a Siemens S7-224XP CN PLC programmable controller 4 is electrified, an EM253 direction position control module 7 and an EM253 lifting position control module 8 finish system initialization, the Siemens S7-224XP CN PLC programmable controller 4 reads a target control instruction sent by an upper PC through a PORT0 serial PORT communication module, the Siemens S7-224XP CN PLC programmable controller 4 converts the target instruction into PWM target pulse numbers at each moment according to the control instruction of a target course angle and a navigation depth, and the EM253 direction position control module 7 and the EM253 lifting position control module 8 send the target instruction to an elevator linear motor driver 5 and a rudder linear motor driver 6 through PWM pulse output PORTs at corresponding moments according to the PWM target pulse numbers; when the target pulse number is sent to the elevator linear motor 17 and the rudder linear motor 27, real-time data of the micro inertial navigation attitude sensor 15 and the depth sensor 16 are received, and when a target instruction is not consistent with an actual course angle or a sailing depth, the Siemens S7-224XP CN PLC programmable controller 4 corrects output pulses of the controller through a course PID self-tuning adjustment algorithm and a depth PID self-tuning adjustment algorithm, and the output pulses enable the elevator or the rudder linear motor to adjust rudder blades or elevator blades, so that the course angle and the sailing depth of the semi-submersible unmanned ship can finally reach control targets required by an upper computer.
Claims (2)
1. The control method based on the semi-submersible unmanned ship course angle and depth control system is characterized in that the semi-submersible unmanned ship course angle and depth control system comprises a PLC (programmable logic controller) 4, a rudder linear motor driver 5, an elevator linear motor driver 6, a direction position control module 7, an elevator position control module 8, a posture sensor 15, a depth sensor 16 and a battery unit, wherein the rudder linear motor 17 is connected with the rudder linear motor driver 5 through a signal line; the elevator linear motor (27) is connected with the elevator motor driver (6) through a signal wire; the PLC (4) is integrated with a PWM output module, a digital quantity signal input/output module, an ADC analog signal input/output module and a serial port communication module; the PWM output module is connected with the rudder linear motor driver (5) and the elevator linear motor driver (6) through signal wires, the ADC analog signal input/output module is connected with the attitude sensor (15) and the depth sensor (16) through signal wires, and the digital signal input/output module is connected with each infrared photoelectric switch through signal wires; the serial port communication module is communicated with the upper PC through a communication line, so that the serial port communication module can receive instructions of the upper PC and feed back real-time data of the PLC (4);
the method comprises the following steps:
Step (1): after the control system is electrified, initializing, and in the initialization process, initializing a PLC (4), a direction position control module (7), a lifting position control module (8) and a course angle control mechanism and a depth control mechanism;
step (2): the control system reads the expected heading and navigation depth targets of the unmanned ship and converts target data into rudder turning and elevator turning angles at specific moments;
step (3): judging whether the unmanned ship reaches a target course after turning, if the unmanned ship does not reach the target course, immediately calling course parameters in the PLC (4), driving the rudder linear motor (17) to rotate, further pushing the upper rudder blade (25) and the lower rudder blade (26) to swing so as to change the course of the unmanned ship until the unmanned ship reaches the target course, and further judging whether the navigational depth reaches the target required by the instruction after the unmanned ship reaches the expected course;
Step (4): after judging that the navigation depth of the unmanned ship does not meet the instruction requirement, the system also calls depth parameters in the PLC (4) to drive the elevator linear motor (27) to rotate, further drive the left elevator rudder blade (29) and the right elevator rudder blade (30) to rotate, and adjust the angles of the left elevator rudder blade (29) and the right elevator rudder blade (30) until the target navigation depth is reached.
2. The control method based on the semi-submersible unmanned ship course angle and depth control system according to claim 1, wherein: the course parameter and the depth parameter are set as follows: firstly, a control system sends a target course angle SP (T) and a navigation depth value SB (T) of an unmanned ship to a PLC (4) on the unmanned ship, and a control dead zone DeltaP, an initial proportional gain K P, an integral coefficient K I and a differential coefficient T 1 are preset in a program of the PLC (4); the attitude sensor (15) and the depth sensor (16) measure the actual course angle PV (t) and the actual depth value PB (t) of the unmanned ship in real time, and when the course angle or the sailing depth is larger or smaller than a set target value, the rudder linear motor (17) and the elevator linear motor (27) act, and the tracking control of the target course angle and the sailing depth is completed through repeated iteration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006464.2A CN110750099B (en) | 2019-10-22 | 2019-10-22 | Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911006464.2A CN110750099B (en) | 2019-10-22 | 2019-10-22 | Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110750099A CN110750099A (en) | 2020-02-04 |
| CN110750099B true CN110750099B (en) | 2024-05-10 |
Family
ID=69279345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911006464.2A Active CN110750099B (en) | 2019-10-22 | 2019-10-22 | Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110750099B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111752278B (en) * | 2020-06-30 | 2021-11-30 | 珠海云洲智能科技股份有限公司 | Fixed point control method and device of navigation equipment and electronic equipment |
| CN113156982B (en) * | 2021-04-20 | 2023-08-04 | 中山大学 | Underwater robot control system and control method thereof |
| CN114265355B (en) * | 2021-12-30 | 2024-02-20 | 上海大学 | Remote controller with autonomous unmanned ship hovering control function and control method thereof |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10033447A1 (en) * | 2000-07-10 | 2002-01-31 | Heinz Hildebrand | Automatic rudder locking device for small ship or boat has roller elements which clamp against surfaces to lock shaft |
| US6976445B1 (en) * | 2004-05-24 | 2005-12-20 | Weston Arneson | Submarine |
| JP2007153183A (en) * | 2005-12-07 | 2007-06-21 | Mitsubishi Heavy Ind Ltd | Underwater vessel |
| CN201099351Y (en) * | 2007-06-25 | 2008-08-13 | 哈尔滨工程大学 | Underwater navigation body modularized steering engine |
| JP2015063181A (en) * | 2013-09-24 | 2015-04-09 | 日本電気株式会社 | Posture angle control device |
| CN104908917A (en) * | 2015-06-03 | 2015-09-16 | 镇江市高等专科学校 | Flexible rudder and control device thereof |
| CN107117276A (en) * | 2017-04-18 | 2017-09-01 | 西北工业大学 | A kind of propulsion of portable autonomous submarine navigation device is with manipulating integrated control unit |
| CN107745786A (en) * | 2017-11-16 | 2018-03-02 | 广州航海学院 | It is a kind of towards the micro-unmanned ship electricity pushing-type steering gear system of the underwater topography measurement of islands and reefs |
| CN108216536A (en) * | 2016-12-09 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of light-duty unmanned underwater robot steering gear |
| CN110155281A (en) * | 2019-06-17 | 2019-08-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of unmanned conveying ship of AUV cluster |
| CN211698715U (en) * | 2019-10-22 | 2020-10-16 | 镇江市高等专科学校 | Course angle and depth driving device of semi-submersible unmanned ship |
-
2019
- 2019-10-22 CN CN201911006464.2A patent/CN110750099B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10033447A1 (en) * | 2000-07-10 | 2002-01-31 | Heinz Hildebrand | Automatic rudder locking device for small ship or boat has roller elements which clamp against surfaces to lock shaft |
| US6976445B1 (en) * | 2004-05-24 | 2005-12-20 | Weston Arneson | Submarine |
| JP2007153183A (en) * | 2005-12-07 | 2007-06-21 | Mitsubishi Heavy Ind Ltd | Underwater vessel |
| CN201099351Y (en) * | 2007-06-25 | 2008-08-13 | 哈尔滨工程大学 | Underwater navigation body modularized steering engine |
| JP2015063181A (en) * | 2013-09-24 | 2015-04-09 | 日本電気株式会社 | Posture angle control device |
| CN104908917A (en) * | 2015-06-03 | 2015-09-16 | 镇江市高等专科学校 | Flexible rudder and control device thereof |
| CN108216536A (en) * | 2016-12-09 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of light-duty unmanned underwater robot steering gear |
| CN107117276A (en) * | 2017-04-18 | 2017-09-01 | 西北工业大学 | A kind of propulsion of portable autonomous submarine navigation device is with manipulating integrated control unit |
| CN107745786A (en) * | 2017-11-16 | 2018-03-02 | 广州航海学院 | It is a kind of towards the micro-unmanned ship electricity pushing-type steering gear system of the underwater topography measurement of islands and reefs |
| CN110155281A (en) * | 2019-06-17 | 2019-08-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of unmanned conveying ship of AUV cluster |
| CN211698715U (en) * | 2019-10-22 | 2020-10-16 | 镇江市高等专科学校 | Course angle and depth driving device of semi-submersible unmanned ship |
| CN213338442U (en) * | 2019-10-22 | 2021-06-01 | 镇江市高等专科学校 | Course angle and depth control system of semi-submersible unmanned ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110750099A (en) | 2020-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110750099B (en) | Driving device, control system and control method for course angle and depth of semi-submersible unmanned ship | |
| CN113359785B (en) | Microminiature AUV underwater motion and hovering control method | |
| CN211698715U (en) | Course angle and depth driving device of semi-submersible unmanned ship | |
| CN105752308B (en) | A kind of gondola propelling ship manoeuvre vector control apparatus | |
| CN109131801A (en) | The voluntary recall device and control method of the complete deep unmanned submersible in sea | |
| CN105204514A (en) | Novel tilt-rotor unmanned aerial vehicle attitude control system | |
| CN113156965B (en) | Hovercraft high-speed rotation control method based on longitudinal speed planning | |
| CN104648645A (en) | Jet-propelled boat capable of realizing boat motion vector control | |
| CN102323820A (en) | Intelligent rudder system and control method thereof | |
| KR20090015248A (en) | Small autonomous underwater vehicle test-bed | |
| CN108549396A (en) | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 | |
| CN102346485B (en) | Adaptive cascade control method of under-actuated UUV snorkeling at large angle of attack facing complex sea conditions | |
| CN109814547B (en) | Unmanned ship course keeping device and method under action of wind wave interference | |
| CN110696962A (en) | Unmanned ship sensor stabilizing and lifting device | |
| CN116736709A (en) | Dynamic compensation type active disturbance rejection heading control method for marine robot | |
| CN114771787B (en) | Control system, control method and vector angle selection method of underwater robot vector propeller | |
| CN109144075A (en) | A kind of control system and control method of unmanned boat | |
| CN209241290U (en) | Deep-sea unmanned remote-controlled vehicle | |
| CN114030579B (en) | Unmanned ship stability control method and propulsion device | |
| CN214084705U (en) | Portable underwater monitoring robot | |
| CN103935504B (en) | A kind of mechanical brake variable-frequency controls ship steering engine driving device and control method | |
| CN108438210B (en) | Piston type aircraft engine propeller pitch changing method | |
| CN117908361A (en) | Hovercraft self-navigation model remote control system | |
| CN214524313U (en) | Electric hydrofoil | |
| CN219524220U (en) | Amphibious ship spray pump control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |