CN111452938B - Underwater control method for autonomous underwater vehicle - Google Patents

Underwater control method for autonomous underwater vehicle Download PDF

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Publication number
CN111452938B
CN111452938B CN202010312617.2A CN202010312617A CN111452938B CN 111452938 B CN111452938 B CN 111452938B CN 202010312617 A CN202010312617 A CN 202010312617A CN 111452938 B CN111452938 B CN 111452938B
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auv
diving
inclination angle
submergence
depth
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CN111452938A (en
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张明
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Zhejiang Jiuduan Intelligent Technology Co ltd
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Zhejiang Jiuduan Intelligent Technology Co ltd
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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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • 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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/18—Control of attitude or depth by hydrofoils
    • 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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • 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
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a diving control method for an autonomous underwater vehicle, which comprises the steps of initializing the state and variable of an AUV (autonomous underwater vehicle); reading the submergence time, judging whether the submergence time exceeds the preset submergence time, if so, finishing the reverse submergence, otherwise, judging the AUV inclination angle, reading the current AUV inclination angle, judging whether the preset inclination angle exceeds the preset inclination angle, if so, finishing the reverse submergence, otherwise, judging whether the preset depth is reached, reading depth meter data, judging whether the submerged submergence is carried out to the specified depth, and if so, finishing the reverse submergence; otherwise, carrying out PID reverse diving control, calculating the difference value between the preset depth and the current depth, inputting the difference value into the first-stage PID controller, and outputting the difference value as a target inclination angle; and calculating the difference between the target inclination angle and the current inclination angle, inputting the difference into a second-stage PID controller, outputting the difference as a horizontal rudder angle, steering according to the horizontal rudder angle, and continuing the process of backing and diving. The AUV is smoothly submerged into water by backing up the car and submerging, so that the volume of the AUV is saved, the power consumption is reduced, and the cost is saved.

Description

Underwater control method for autonomous underwater vehicle
Technical Field
The invention relates to the field of underwater vehicles, in particular to a submerging control method for an autonomous underwater vehicle.
Background
An Autonomous Underwater Vehicle (AUV) is an unmanned and cableless Underwater robot, has Autonomous navigation and Autonomous navigation functions, and can realize different Underwater detection tasks such as Underwater target detection, Underwater imaging, Underwater photography, hydrological data acquisition and the like by carrying different devices.
In order to improve hydrodynamic characteristics and reduce power consumption, an AUV generally adopts a torpedo type streamline design, and realizes advancing, retreating, turning, floating and submerging of an aircraft through intelligent control of a single propeller, a horizontal rudder and a vertical rudder. The AUV has the appearance shown in FIG. 1: the propeller generates forward/backward thrust by forward/backward rotation of the propeller; the vertical rudder controls the left and right steering of the AUV; the horizontal rudder controls the floating and the submerging of the AUV.
In order to ensure safety, the AUV is balanced to be made into positive buoyancy, namely the buoyancy of the AUV is larger than the gravity, and the AUV partially emerges from the water surface in a static state. The traditional diving method adopts a mode that a propeller generates forward thrust and a horizontal rudder faces downwards. In this way, when the AUV is on the water surface, the propeller and the rudder are exposed out of the water surface due to the downward inclination angle and the upward stern of the AUV, as shown in fig. 2, and the propeller idles, the rudder cannot generate sufficient downward thrust, so that the AUV is difficult to submerge.
In view of the above problems, there are two main approaches currently taken:
(1) adding a horizontal rudder at a position close to the bow of the AUV
Such as Theseus AUV (https:// ISE. bc. ca/product/Theseus-AUV /) by ISE corporation, adds a horizontal rudder near the bow.
(2) AUV added vertical propeller
The literature, The MARES AUV, a modulated Autonomous Robot for environmental Sampling, adopts two vertical propellers to improve The submergence ability of The AUV.
(3) The AUV adopts a plurality of propellers to form vector propulsion
An appearance design patent-underwater robot (vector propulsion) (application number: 201730641242.3) proposes that 4 propellers are arranged at the stern of an AUV to form a vector propulsion mode, so that the submergence capacity of the AUV is improved.
The tradition adopts single propeller, rudder, through the mode that relies on forward thrust of screw and rudder thrust downwards, when AUV is located the surface of water, at the dive in-process, screw and rudder are exposed the surface of water easily, make the thrust downwards of production not enough, and make AUV be difficult to dive.
The manner of adding a horizontal rudder at the position of the AUV near the bow requires additional space for the AUV and increases the design complexity.
The mode of adding the vertical propeller to the AUV also needs to increase the space of the AUV, and the power consumption of the mode of depending on a plurality of propellers is larger than that of depending on the mode of depending on the horizontal rudder for diving.
The AUV is provided with a plurality of propellers at the stern part to form a vector propulsion mode, and the power consumption of the AUV can be increased due to the fact that the propellers are needed.
The invention adopts a reverse submerging mode, namely the propeller rotates reversely when the AUV is on the water surface, and the horizontal rudder is upward, so that the stern part of the AUV submerges into the water firstly in the submerging process, as shown in figure 3. When the vehicle is backed and submerged, the AUV inclination angle is upward, and when the vehicle is submerged normally, the AUV inclination angle is downward.
The mode of backing and submerging is adopted, the propeller and the horizontal rudder can generate enough thrust to submerge the AUV, and when the AUV is submerged to a certain depth, the AUV is switched to a forward mode. The method does not additionally increase mechanical and hardware components, adopts a software control mode, and ensures that the AUV can be submerged easily, which is not available in published documents and periodicals.
Disclosure of Invention
The invention aims to provide a submergence control method for an autonomous underwater vehicle, aiming at the defects of the prior art, the autonomous underwater vehicle is driven by a single propeller and a rudder to submerge an AUV easily on the water surface through a software control mode by aiming at the prior torpedo type AUV, and additional mechanical and hardware components are not needed.
The purpose of the invention is realized by the following technical scheme: an autonomous underwater vehicle submergence control method comprises the following steps:
(1) initializing the state and variables of an Autonomous Underwater Vehicle (AUV), including re-recording the diving time, returning the steering engine angle to 0, stopping the rotation of a motor, marking the position 1 of a reversing and diving start mark, and marking the position 0 of a reversing and diving end mark; then the propeller rotates reversely when the AUV is on the water surface, and the horizontal rudder is upward;
(2) reading the diving time delta t and judging whether the preset diving time t is exceeded or notsIf Δ t is greater than or equal to tsIf yes, stopping backing and diving, otherwise executing the step (3);
(3) judging the inclination angle of the AUV; reading the current inclination angle pitch of the AUV, and judging whether the current inclination angle pitch exceeds a preset inclination angle pitchsIf the pitch is not less than the pitchsIf yes, stopping backing and diving, otherwise executing the step (4);
(4) judging whether the preset depth is reached; reading the depth meter data z, and judging whether the depth meter data z sinks to the specified depth zsIf z is not less than zsIf yes, backing up and diving are finished; otherwise, executing the step (5);
(5) PID reverse submergence control; calculating a preset depth zsThe difference value with the current depth z is input into a first-stage PID controller, and the output is a target inclination angle pitcht(ii) a Calculating the output target inclination pitchtThe difference value from the current inclination pitch is inputted to the second stageAnd (3) outputting a horizontal rudder angle by the PID controller, steering according to the horizontal rudder angle, and returning to the step (2) to continue the reversing and submerging control process.
Further, the backing-up and submerging means that the AUV propeller rotates reversely and submerges in the water in a retreating mode.
Further, in the step (5), the AUV target inclination angle obtained when the vehicle is backed and submerged is upward, and is opposite to the AUV forward direction.
Further, in the step (5), when backing up and diving, the inclination angle is upward, and when steering is carried out according to the horizontal steering angle, the horizontal steering needs to be steered.
And further, after the reversing task is finished, the steering engine returns to 0, the motor stops rotating, the reversing and submerging start mark position 0 and the reversing and submerging finish mark position 1 start to execute other tasks.
Further, the first stage PID controller and the second stage PID controller are both provided with a proportional term KpIntegral term Kis-1And a difference term KdAnd s, setting an integral upper limit to prevent integral term saturation, and setting an upper limit on the final output of the PID to prevent an overlarge output rudder angle value.
The invention has the beneficial effects that: aiming at the problem that the AUV is difficult to submerge, the invention does not additionally increase equipment such as a propeller, a rudder and the like, adopts a software control mode, and submerges by backing a car, so that the AUV is submerged smoothly, the volume of the AUV is saved, the power consumption is reduced, and the cost is saved.
Drawings
FIG. 1 is a schematic view of the AUV profile;
FIG. 2 is a schematic view of the propeller and rudder emerging from the water during the submergence of the AUV from the water;
FIG. 3 is a schematic view of the AUV diving from the surface;
FIG. 4 is a reverse submergence overall flow chart;
FIG. 5 is a schematic diagram of reverse submergence PID control;
fig. 6 is a schematic diagram of a standard PID controller.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 3, the invention provides a method for controlling the diving of an autonomous underwater vehicle.
The method adopts a software control mode to realize the diving of the AUV, and a specific flow chart is shown in figure 4. Firstly, initializing states and variables, including recording the diving time again, enabling the angle of a steering engine to return to 0, stopping the rotation of a motor, marking the position 1 of a reversing and diving start mark, and marking the position 0 of a reversing and diving end mark. And then, entering a reverse submergence control, realizing by adopting a PID (Proportional-Integral-Derivative) algorithm, and judging whether submergence time, an inclination angle, depth and the like exceed limit values to ensure the safety of the AUV. Reading the diving time delta t and judging whether the preset diving time t is exceeded or notsIf the time is out, i.e. delta t is more than or equal to tsIf the time is not over, namely delta t < tsJudging the AUV inclination angle; reading the current inclination angle pitch of the AUV, and judging whether the current inclination angle pitch exceeds a preset inclination angle pitchsIf the inclination angle exceeds the preset inclination angle, the pitch is more than or equal to the pitchsIf the vehicle is not over, the pitch is less than the pitchsJudging whether the preset depth is reached; reading the depth meter data z, and judging whether the depth meter data z sinks to the specified depth zsIf the specified depth has been reached, i.e. z ≧ zsIf yes, backing up and diving are finished; if not, i.e. z < zsAnd then the PID reverse diving control is continued. And (4) ending the reversing task, returning the steering engine to 0, stopping the motor from rotating, starting to mark the position 0 for reversing and diving, and marking the position 1 for finishing reversing and diving to start to execute other tasks.
PID reverse submergence control As shown in FIG. 5, the propeller is rotated at a preset speed rsReversely rotating, and controlling and regulating the horizontal rudder by PID (proportion integration differentiation) to submerge the AUV to a preset depth zsConsists of two stages of PID: the first stage is a depth to pitch PID control and the second stage is a pitch to rudder PID control. Each stage of PID is composed of a standard PID controller, the first stage of PID control from depth to inclination angle is input as a preset depth zsDifference from current depth z, i.e. zsZ, the output is the target inclination, since reverse, the AUV inclination is up during dive, opposite to AUV forward; PID control of the second stage of pitch to the rudder with inputs ofTarget inclination pitchtThe difference from the current inclination pitch, i.e. pitchtPitch, the output is the horizontal rudder angle, again, since reverse, the inclination is up, requiring the horizontal lower rudder, as opposed to AUV forward.
As shown in fig. 6, is a standard PID controller, and is composed of a proportional term KpIntegral term Kis-1And a difference term KdAnd s, in order to prevent the integral term from being saturated, an integral upper limit is set, and the PID final output is set to have an upper limit to prevent the output rudder angle value from being too large.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the appended claims.

Claims (4)

1. An autonomous underwater vehicle submergence control method is characterized by comprising the following steps:
(1) initializing the state and variables of an Autonomous Underwater Vehicle (AUV), including re-recording the diving time, returning the steering engine angle to 0, stopping the rotation of a motor, marking the position 1 of a reversing and diving start mark, and marking the position 0 of a reversing and diving end mark; then, when the AUV is on the water surface, the propeller rotates reversely, the horizontal rudder faces upwards, and then the AUV enters reverse submergence control, wherein the reverse submergence control is controlled by adopting a PID algorithm, and the horizontal rudder is arranged at the tail part of the autonomous underwater vehicle; the backing-up submergence means that the AUV propeller rotates reversely, and the AUV submerges in water in a backing-up mode;
(2) reading the diving time delta t and judging whether the preset diving time t is exceeded or notsIf Δ t is greater than or equal to tsIf yes, stopping backing and diving, otherwise executing the step (3);
(3) judging the inclination angle of the AUV; reading the current inclination angle pitch of the AUV, and judging whether the current inclination angle pitch exceeds a preset inclination angle pitchsIf the pitch is not less than the pitchsIf yes, stopping backing and diving, otherwise executing the step (4);
(4) judging whether the preset depth is reached; reading the depth meter data z, and judging whether the depth meter data z sinks to the specified depth zsIf z is not less than zsThen turn overFinishing the vehicle submergence; otherwise, executing the step (5);
(5) PID reverse submergence control; calculating a preset depth zsThe difference value with the current depth z is input into a first-stage PID controller, and the output is a target inclination angle pitcht(ii) a Calculating the output target inclination pitchtInputting the difference value of the current inclination angle pitch into a second-stage PID controller, outputting the difference value as a horizontal rudder angle, steering according to the horizontal rudder angle, and returning to the step (2) to continue the process of backing and diving;
(6) and (4) ending the reversing task, returning the steering engine to 0, stopping the motor from rotating, starting to mark the position 0 for reversing and diving, and marking the position 1 for finishing reversing and diving to start to execute other tasks.
2. The method for controlling submergence of the autonomous underwater vehicle according to claim 1, wherein in the step (5), the AUV target inclination angle obtained during reverse submergence is upward.
3. The underwater diving control method of the autonomous underwater vehicle as claimed in claim 2, wherein in the step (5), when the vehicle is driven in a reverse diving mode, the target inclination angle is upward, and when the rudder is driven according to the horizontal rudder angle, the horizontal rudder is required to be driven.
4. The method of claim 1, wherein the first stage PID controller and the second stage PID controller are both proportional term KpIntegral term Kis-1And a difference term KdAnd s, setting an integral upper limit to prevent integral term saturation, and setting an upper limit on the final output of the PID to prevent an overlarge output rudder angle value.
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CN1746077A (en) * 2004-09-06 2006-03-15 刘歌群 Neutral-floatage U-boat with canard arrangement, its navigation depth and suspending stop control thereof
GB2541189B (en) * 2015-08-10 2018-07-11 Autonomous Robotics Ltd Autonomous underwater vehicle
CN106542071B (en) * 2016-11-28 2018-05-18 哈尔滨工程大学 For the buoyancy of long voyage AUV and posture balance control method
CN109814581A (en) * 2019-01-09 2019-05-28 哈尔滨工业大学（威海） ROV underwater robot automatic fixing depth motion control method
CN109747800A (en) * 2019-01-15 2019-05-14 哈尔滨工程大学 A kind of miniature AUV of drive lacking

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