CN110844028A - Device and method for regulating and controlling landing area and landing speed of deep-sea lander - Google Patents
Device and method for regulating and controlling landing area and landing speed of deep-sea lander Download PDFInfo
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Abstract
The invention discloses a regulating and controlling device and method for a deep sea lander landing site area and speed, which comprises a carrying platform, a wing plate, a hydraulic system, an attitude sensor, an underwater acoustic communicator and a control unit, wherein a fixed coordinate system O is established through (1)2-xyz; (2) establishing a follow-up coordinate system O on a carrying platform1-xyz; (3) solving the coordinate value of the center of the carrying platform in a fixed coordinate system; (4) calculating the coordinate value of the central point of the landing area in the follow-up coordinate system, and marking the connecting line direction n of the central point of the landing area and the central point of the carrying platformt(ii) a (5) The resultant force direction of the thrust provided by the wing plate is made to be ntThe directions are the same. According to the device and the method for regulating and controlling the landing point area and the landing speed of the deep sea lander, after the lander is influenced by ocean currents in the submerging process, the landing device can be regulated by the control method every time, so that the lander is continuously close to a target area, and the regulation and control interval can be changedAnd adjusting the landing precision and the energy consumption by the time delta t, and ensuring that the landing point is within the range of an expected detection area.
Description
Technical Field
The invention relates to a device and a method for regulating and controlling a landing point area and speed of a deep-sea lander, and belongs to the field of ocean exploration equipment.
Background
The range of human development and detection of oceans is increasingly wide. In the field of deep sea detection, the autonomous lifting and sinking type deep sea lander provides effective technical support for exploring the scientific problem at the front edge of deep sea due to the characteristics of low cost and high flexibility.
The existing deep sea lander realizes submerging and floating by means of gravity and buoyancy, does not have the capacity of speed regulation and control and resisting ocean current, is greatly influenced by the ocean current, lacks the active regulation and control function on motion and landing points, and is difficult to land in a preset target range. In addition, if the landing speed of the lander is too high, the landing speed will affect the device itself and the underwater operation. However, no relevant solution for landing site area regulation and pre-landing deceleration for autonomous lifting deep sea landers has been retrieved. The invention provides a device and a method for regulating and controlling a landing point area and speed of a deep sea lander based on multi-directional requirements such as ocean exploration, geological exploration, biological sampling and the like.
The above description is included in the technical recognition scope of the inventors, and does not necessarily constitute the prior art.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a device and a method for regulating and controlling the landing point area and speed of a deep-sea lander, so that the lander can land in a certain speed interval and a specified area range.
The invention adopts the following technical scheme to realize the purpose:
in one aspect, the present invention provides a device for controlling the landing site area and speed of a deep sea lander, comprising:
a mounting platform;
the four wing plates are distributed around the periphery of the carrying platform, the upper end of each wing plate is rotatably connected with the carrying platform through a rotating shaft, the lower end of each wing plate is connected with the carrying platform through a hydraulic cylinder, and the rotating shafts of the two adjacent wing plates are mutually vertically arranged and are simultaneously perpendicular to the vertical axis of the carrying platform;
the hydraulic system is used for driving the hydraulic cylinder to extend and retract;
the attitude sensor is used for acquiring the six-dimensional motion state of the carrying platform;
the underwater sound communication machine is in communication connection with the attitude sensor and the hydraulic system;
and the control unit is in two-way communication connection with the underwater sound communication machine.
In a preferred embodiment, the lower end of each wing is connected to the load platform by two hydraulic cylinders.
In a preferred embodiment, the hydraulic system comprises an oil tank, the cavity of each hydraulic cylinder is connected with the oil tank through an oil pipe, a servo valve is arranged on each oil pipe, and the servo valve is connected with the control unit.
In a preferred embodiment, the hydraulic system and the attitude sensor are mounted on a bottom portion of the mounting platform.
On the other hand, the invention also provides a method for regulating and controlling the landing area and the landing speed of the deep sea lander, which comprises the following steps:
(1) establishing a fixed coordinate system O2Xyz, measuring the center point of the landing zone in a fixed coordinate system O2-coordinate value in xyz, denoted (x)t，yt)；
(2) Establishing a follow-up coordinate system O on a carrying platform1The controller reads the translation speeds u, v and w, the rotation angles phi, theta and psi and the rotation angular speeds p, q and r of the carrying platform in a follow-up coordinate system through the six-dimensional motion state of the carrying platform;
wherein u is a longitudinal velocity, v is a transverse velocity, w is a vertical velocity, phi is a roll angle, theta is a pitch angle, psi is a yaw angle, p is a roll angular velocity, q is a pitch angular velocity, and r is a yaw angular velocity;
(3) the controller converts the relation through the matrix of the fixed coordinate system and the following coordinate systemThe coordinate value of the platform in the fixed coordinate system is obtained and marked as (x)1，y1)；
(4) Obtaining the coordinate value of the central point of the landing area in the following coordinate system as (x)t-x1，yt-y1) Marking the connecting line direction of the center point of the landing area and the center point of the carrying platform as nt；
(5) Selecting wing plate regulation and control interval time delta t, and according to the connecting line direction n of central point of landing area and central point of carrying platformtObtaining a quadrant area of the central point of the landing area in a follow-up coordinate system, and adjusting thrust provided by the two wing plates by controlling the unfolding angles of the two wing plates with the rotating shafts perpendicular to each other to ensure that the resultant force direction of the thrust provided by the two wing plates and n are equaltThe directions are the same;
(6) repeating the step (5) after every interval time delta t.
In a preferred embodiment, two of the wings, with their axes of rotation perpendicular to each other, are deployed while the other two wings are retracted.
In a preferred embodiment, the method further comprises the steps of:
(7) the center point of the carrying platform reaches a preset deceleration setting height H0And controlling the four wing plates to be unfolded to the angle with the maximum vertical resistance, reducing the vertical speed w, finishing landing and closing the wing plates.
In a preferred embodiment, the direction of the resultant of the thrust forces provided by the two wings is equal to ntThe same orientation determination criteria are: let arctan (F)wy/Fwx)＝Θ，Θ＝arctan(yt-y1/xt-x1)；
In the formula, FwxAnd FwyThrust provided for the two wing plates respectively;
wherein, FwxAnd FwyDirection of (1) and ntWhen the included angle is acute, FwxAnd FwyTake a positive value, FwxAnd FwyDirection of (1) and ntAt obtuse angle FwxAnd FwyTaking a negative value.
In a preferred embodiment, the rotation axes of the two paddles perpendicular to each other are an x axis and a y axis, respectively, the vertical axis of the mounting body is a z axis, and the center point of the mounting platform at the initial time is the origin.
The translation speed matrix conversion relation between the fixed coordinate system and the follow-up coordinate system is as follows:
the rotation speed matrix conversion relation between the fixed coordinate system and the follow-up coordinate system is as follows:
benefits of the present application include, but are not limited to:
according to the regulating and controlling device and method for the landing site area and the landing speed of the deep sea lander, after the lander is influenced by sea currents in the submerging process, the control method can be used for regulating each time, so that the lander is enabled to approach a target area continuously, landing precision and energy consumption can be adjusted by changing regulating and controlling interval time delta t, and the landing site is guaranteed to be in an expected detection area range; the hydraulic cylinder is used for adjusting the opening and closing angle of the wing plate in a telescopic mode, the whole stress of the fluid resistance adjusting device is utilized, the lander is enabled to approach the landing point actively, and compared with methods such as a propeller and the like, the method has the advantages that the energy consumption is less, and the failure rate is lower; before landing, the four wing plates can be completely unfolded, the maximum resistance is provided in the vertical direction, the landing speed is reduced, the impact on the seabed is reduced, the environmental disturbance caused by landing is reduced to the maximum degree, and meanwhile, the safety of the device is guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic structural diagram of a regulating device for a deep sea lander landing site area and speed provided by the present application;
FIG. 2 is a schematic control principle diagram of a regulating device for the landing site area and speed of the deep sea lander provided by the application;
FIG. 3 is a schematic diagram of a hydraulic system of a regulating device for the landing site area and speed of the deep sea lander provided by the application;
FIG. 4 is a schematic diagram of a flap control method according to an embodiment of the present application;
FIG. 5 is a descending trajectory of the landing gear in an embodiment of the present application;
in the figure, 100, a mounting platform; 201. wing panel No. 1; 202. 2 wing plate; 203. wing plate No. 3; 204. wing plate No. 4; 300. a hydraulic system; 320. an oil tank; 311. no. 1 hydraulic cylinder; 312. no. 2 hydraulic cylinder; 313. no. 3 hydraulic cylinder; 314. no. 4 hydraulic cylinder; 331. a servo valve No. 1; 332. a number 2 servo valve; 331. a number 3 servo valve; 334. a number 4 servo valve; 400. an attitude sensor; 500. an underwater acoustic communicator; 600. a control unit.
Detailed Description
In order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein. Therefore, the scope of the invention is not limited by the specific embodiments disclosed below.
As shown in fig. 1, the device for controlling the landing site area and speed of the deep sea lander provided by the invention comprises a carrying platform 100, specifically, in order to reduce the overall weight of the lander and facilitate installation of required equipment, the carrying platform 100 is designed into a rectangular frame body, and structures such as a floating body and the like are arranged on the carrying platform, so that the gravity center position of the carrying platform is lower than the floating center position, a tumbler structure is formed, and water wave impact is resisted. The mounting platform is provided with a wing plate 200, a hydraulic system 300, an attitude sensor 400, and an underwater acoustic communication device 500, wherein the hydraulic system 300 and the attitude sensor 400 are mounted on the bottom of the mounting platform 100.
In order to ensure the stability of the lander, facilitate the subsequent establishment of a coordinate system and accurately control the running direction of the lander, the number of the wing plates 200 is four, the four wing plates are arranged around the carrying platform and are respectively marked as a No. 1 wing plate 201, a No. 2 wing plate 202, a No. 3 wing plate 203 and a No. 4 wing plate 204; the upper end of each wing plate is rotatably connected with the carrying platform through a rotating shaft, the lower end of each wing plate is connected with the carrying platform through a hydraulic cylinder 301, and the rotating shafts of two adjacent wing plates 200 are mutually vertically arranged and are simultaneously vertical to the vertical axis of the carrying platform 100; the wing plate 200 is driven to be unfolded or retracted by controlling the piston rod of the hydraulic cylinder to stretch and contract.
As shown in fig. 2, the attitude sensor 400 is installed in the embarkation platform 100, usually in the control cabin, for acquiring the six-dimensional motion state of the embarkation platform; the underwater acoustic communicator 500 is in communication connection with the attitude sensor 400 and the hydraulic system 300; the underwater acoustic communication machine 500 is in bidirectional communication connection with the control unit 600, so that the operation of the lander can be observed and controlled conveniently on the sea surface.
The hydraulic cylinders are connected to the hydraulic system 300, which includes an oil tank 320, the cavity of each hydraulic cylinder is connected to the oil tank 320 through an oil pipe, each oil pipe is provided with a servo valve, and the servo valve is connected to the control unit 600. When a certain hydraulic cylinder needs to be controlled, the servo valve on the corresponding oil pipe is controlled to be opened, and then the piston rod in the corresponding hydraulic cylinder is controlled to stretch and retract by controlling output hydraulic oil or recycling hydraulic oil, so that the corresponding wing plate is driven to unfold or recycle.
Fig. 3 shows a schematic diagram of a hydraulic system, in which a No. 1 hydraulic cylinder 311, a No. 2 hydraulic cylinder 312, a No. 3 hydraulic cylinder 313, and a No. 4 hydraulic cylinder 314 drive a No. 1 wing 201, a No. 2 wing 202, a No. 3 wing 203, and a No. 4 wing 204, respectively, and a No. 1 servo valve 331, a No. 2 servo valve 332, a No. 3 servo valve 333, and a No. 4 servo valve 334 control extension and retraction of piston rods of the No. 1 hydraulic cylinder 311, the No. 2 hydraulic cylinder 312, the No. 3 hydraulic cylinder 313, and the No. 4 hydraulic cylinder 314, respectively.
In order to ensure that the panels are reliably deployed in a deep sea environment, in a preferred embodiment the lower end of each panel is connected to the load platform by two hydraulic cylinders.
On the other hand, the invention also provides a method for regulating and controlling the landing area and the landing speed of the deep sea lander, which comprises the following steps:
(1) establishing a fixed coordinate system O2Xyz, measuring the center point of the landing zone in a fixed coordinate system O2-coordinate value in xyz, denoted (x)t，yt)；
(2) Referring to fig. 1 again, a following coordinate system O is established on the carrying platform according to the above method, with the rotation axes of the two wing plates perpendicular to each other as the x-axis and the y-axis, the vertical axis of the carrying body as the z-axis, and the central point of the carrying platform at the initial time as the origin1-xyz; the controller reads the translation speeds u, v and w, the rotation angles phi, theta and psi and the rotation angular speeds p, q and r of the carrying platform in the follow-up coordinate system through the six-dimensional motion state of the carrying platform; FIG. 1 specifically shows a following coordinate system O1-the orientation of each coordinate axis in xyz; wherein, the variables and symbols in the movement process of the lander are shown in the following table 1:
TABLE 1
(3) The controller calculates the coordinate value of the carrying platform in the fixed coordinate system through the matrix conversion relation between the fixed coordinate system and the follow-up coordinate system, and the mark is (x)1，y1)；
The translation speed matrix conversion relation between the fixed coordinate system and the follow-up coordinate system is as follows:
the rotation speed matrix conversion relation of the fixed coordinate system and the follow-up coordinate system is as follows:
(4) obtaining landing area centerThe coordinate value of the point in the following coordinate system is (x)t-x1，yt-y1) Marking the connecting line direction of the center point of the landing area and the center point of the carrying platform as nt；
(5) And (3) wing plate regulation: selecting wing plate regulation and control interval time delta t, and according to the connecting line direction n of central point t of landing area and central point of carrying platformtObtaining a quadrant area of the central point of the landing area in a follow-up coordinate system, and adjusting thrust provided by the two wing plates by controlling the unfolding angles of the two wing plates with the rotating shafts perpendicular to each other to ensure that the resultant force direction of the thrust provided by the two wing plates and n are equaltThe directions are the same; controlling to retract the other two wing plates while the two wing plates with the rotating shafts perpendicular to each other are unfolded, and keeping controlling the angle of the wing plates to submerge within delta t time;
specifically, the resultant force direction of the thrust provided by the two wing plates and ntThe same orientation determination criteria are: let arctan (F)wy/Fwx)＝Θ，Θ＝arctan(yt-y1/xt-x1)；
In the formula, FwxAnd FwyThrust provided for the two wing plates respectively;
wherein, FwxAnd FwyDirection of (1) and ntWhen the included angle is acute, FwxAnd FwyTake a positive value, FwxAnd FwyDirection of (1) and ntAt obtuse angle FwxAnd FwyTaking negative value to make resultant force direction along ntDirection;
Fwx、Fwyregarding the opening and closing angle α of the wing plate, the opening and closing angle α is obtained by solving a cubic fitting polynomial of force and angle set in advance, and the longitudinal force and the transverse force of the s-th wing plate are respectively
Fs-wx＝as-wxα3+bs-wxα2+cs-wxα+ds-wx
Fs-wy＝as-wyα3+bs-wyα2+cs-wyα+ds-wy；
(6) Repeating the step (5) after every interval time delta t; during actual operation, the landing precision and energy consumption can be adjusted by changing the regulation and control interval time delta t, the control precision of the large interval time landing point area is low, the required energy consumption is low, the precision of the small interval time landing point is higher, and the required energy consumption is large;
(7) the center point of the carrying platform reaches a preset deceleration setting height H0In time, the four wing plates are controlled to be unfolded to the maximum vertical resistance angle thetacTo make the landing gear vertically stressed FwzAnd (5) reaching the maximum value, reducing the vertical speed w, finishing landing and closing the wing plate.
Specifically, the flap control in step (5) is performed under four conditions:
as shown in fig. 4, the landing area central point t obtained by the k-th adjustment is located in the first quadrant of the lander follow-up two-dimensional coordinate system, and the wing plate No. 3 located on the x-axis negative half shaft of the follow-up coordinate system and the wing plate No. 2 located on the y-axis negative half shaft are opened, wherein the wing plate No. 3 is pushed by the hydraulic cylinder No. 3 to open by the angle theta3Providing Fwx3No. 2 wing plate is pushed by No. 2 hydraulic cylinder to open angle theta2Providing Fwy2Guarantee Fwx3And Fwy2Resultant force direction and ntIn the same direction, i.e. arctan (F)wy2/Fwx3) When the landing area is not in the landing area, the landing device dives towards the center point t of the landing area;
adjusting for the (k + 1) th time to obtain a landing area central point t positioned in a third quadrant of a follow-up two-dimensional coordinate system, opening a No. 1 wing plate positioned in a positive half shaft of an x axis of the follow-up coordinate system and a No. 4 wing plate positioned in a positive half shaft of a y axis, wherein the No. 1 wing plate is pushed by a No. 1 hydraulic cylinder to open an angle theta1Providing Fwx1No. 4 wing plate is pushed by No. 4 hydraulic cylinder to open angle theta4Providing Fwy4Guarantee Fwx1And Fwy4Resultant force direction and ntIn the same direction, i.e. arctan (F)wy4/Fwx1Θ; the lander continues to dive towards a central point t of a landing area, and is supposed to be influenced by ocean currents in the same direction as the positive direction of the y axis of the follow-up coordinate system in the descending process, and the ocean current force is larger than F provided by the No. 4 wing platewy4Making the course of the lander far away from the central point t of the landing area;
the k +2 th adjustment is obtainedAnd (3) when the land area central point t is positioned in a second quadrant of the follow-up two-dimensional coordinate system, opening a No. 1 wing plate positioned on a positive half shaft of an x axis of the follow-up coordinate system and a No. 2 wing plate positioned on a negative half shaft of the y axis, wherein the No. 1 wing plate is pushed by a No. 1 hydraulic cylinder to open by an angle theta1Providing Fwx1No. 2 wing plate is pushed by No. 2 hydraulic cylinder to open angle theta2Providing Fwy2Guarantee Fwx1And Fwy2Resultant force direction and ntSame direction, arctan (F)wy2/Fwx1When the lander submerges towards the center point t of the land area, theta; the angle of the control flap is maintained for submerging before the next adjustment.
As shown in FIG. 5, the curve shows the landing gear's descent trajectory, which is finally reached at a predetermined depth H, via three communications and controls, respectively0And slowly descending.
In the description of the present invention, it is to be understood that the terms "central," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," and the like are used in the indicated orientations and positional relationships based on the drawings for ease of description and simplicity of description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (10)
1. A regulation and control device for deep sea lander landing site area and speed is characterized by comprising:
a mounting platform;
the four wing plates are distributed around the periphery of the carrying platform, the upper end of each wing plate is rotatably connected with the carrying platform through a rotating shaft, the lower end of each wing plate is connected with the carrying platform through a hydraulic cylinder, and the rotating shafts of the two adjacent wing plates are mutually vertically arranged and are simultaneously perpendicular to the vertical axis of the carrying platform;
the hydraulic system is used for driving the hydraulic cylinder to extend and retract;
the attitude sensor is used for acquiring the six-dimensional motion state of the carrying platform;
the underwater sound communication machine is in communication connection with the attitude sensor and the hydraulic system;
and the control unit is in two-way communication connection with the underwater sound communication machine.
2. The deep sea lander landing site area and speed control device of claim 1, wherein the lower end of each wing plate is connected to the landing platform by two hydraulic cylinders.
3. The deep sea lander landing site area and speed regulating and controlling device according to claim 1, wherein the hydraulic system comprises an oil tank, the chamber of each hydraulic cylinder is connected with the oil tank through an oil pipe, a servo valve is arranged on each oil pipe, and the servo valve is connected with the control unit.
4. The device for regulating and controlling the landing site area and the landing speed of the deep sea lander according to claim 1, wherein the hydraulic system and the attitude sensor are installed at the bottom of the carrying platform.
5. A method of regulating a regulatory device according to any of claims 1 to 4, comprising the steps of:
(1) establishing a fixed coordinate system O2Xyz, measuring the center point of the landing zone in a fixed coordinate system O2-coordinate value in xyz, denoted (x)t,yt)；
(2) Establishing a follow-up coordinate system O on a carrying platform1The controller reads the translation speeds u, v and w, the rotation angles phi, theta and psi and the rotation angular speeds p, q and r of the carrying platform in a follow-up coordinate system through the six-dimensional motion state of the carrying platform;
wherein u is a longitudinal velocity, v is a transverse velocity, w is a vertical velocity, phi is a roll angle, theta is a pitch angle, psi is a yaw angle, p is a roll angular velocity, q is a pitch angular velocity, and r is a yaw angular velocity;
(3) the controller calculates the coordinate value of the carrying platform in the fixed coordinate system through the matrix conversion relation between the fixed coordinate system and the follow-up coordinate system, and the mark is (x)1,y1)；
(4) Obtaining the coordinate value of the central point of the landing area in the following coordinate system as (x)t-x1,yt-y1) Marking the connecting line direction of the center point of the landing area and the center point of the carrying platform as nt；
(5) Selecting wing plate regulation and control interval time delta t, and according to the connecting line direction n of central point of landing area and central point of carrying platformtObtaining a quadrant area of the central point of the landing area in a follow-up coordinate system, and adjusting thrust provided by the two wing plates by controlling the unfolding angles of the two wing plates with the rotating shafts perpendicular to each other to ensure that the resultant force direction of the thrust provided by the two wing plates and n are equaltThe directions are the same;
(6) repeating the step (5) after every interval time delta t.
6. A method according to claim 5, wherein two of the wings having their axes of rotation perpendicular to each other are deployed while the other two wings are retracted.
7. The method for regulating and controlling according to claim 5, further comprising the steps of:
(7) the center point of the carrying platform reaches a preset deceleration setting height H0And controlling the four wing plates to be unfolded to the angle with the maximum vertical resistance, reducing the vertical speed w, finishing landing and closing the wing plates.
8. A method according to claim 5, wherein the resultant of the thrust forces provided by the two wings is in the direction ntThe same orientation determination criteria are: let arctan (F)wy/Fwx)＝Θ，Θ＝arctan(yt-y1/xt-x1)；
In the formula, FwxAnd FwyThrust provided for the two wing plates respectively;
wherein, FwxAnd FwyDirection of (1) and ntWhen the included angle is acute, FwxAnd FwyTake a positive value, FwxAnd FwyDirection of (1) and ntAt obtuse angle FwxAnd FwyTaking a negative value.
9. A control method according to claim 5, wherein the follow-up coordinate system is established by: the rotation axes of the two wing plates which are vertical to each other are respectively an x axis and a y axis, the vertical axis of the carrying main body is a z axis, and the central point of the carrying platform at the initial moment is an origin O1。
10. A control method according to claim 5, wherein the translation speed matrix transformation relationship between the fixed coordinate system and the follow-up coordinate system is:
the rotation speed matrix conversion relation between the fixed coordinate system and the follow-up coordinate system is as follows:
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