CN112666983A - AUV stable hovering device based on flow field velocity decomposition method - Google Patents
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Abstract
The invention provides an AUV stable hovering device based on a flow field velocity decomposition method, which comprises an AUV main body, wherein an X axial flow velocity sensor, a Y axial flow velocity sensor and a Z axial flow velocity sensor are arranged on the surface of the AUV main body; the lateral surface of the AUV main body is provided with a plurality of vector thrusters in a symmetrical arrangement, the plurality of vector thrusters and the axis of the AUV main body are in the same horizontal plane, and each vector thruster has an adjusting range of 180 degrees in the horizontal plane and 180 degrees in the vertical plane; the pitching attitude adjusting device is arranged in the AUV main body and is matched with the vector thruster, so that six degrees of freedom control of advancing and retreating, lateral moving, submerging and floating, bow swinging, transverse tilting and longitudinal tilting of the AUV can be realized. The method utilizes sensor data to establish a space flow field under a carrier coordinate system and solve the inverse force so as to keep stable auto-disturbance-rejection hovering of the AUV and solve the problem that the AUV is unstable when encountering turbulence.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an AUV stable hovering device based on a flow field velocity decomposition method.
Background
With the development of science and technology in the world today, mankind is going to great lengths to explore areas that have never been involved. In these areas, abundant ocean resources are undoubtedly the hot spots for various countries to compete, and the level of ocean exploration capability becomes the key to whether various countries can take a place in the ocean first. In view of the complex environment of the ocean and the limitations of human body tolerance, AUV (autonomous underwater vehicle) is the best choice to replace human beings for deep sea operations.
After decades of efforts, people already master many AUV technologies, and the AUV functions to detect marine resources and extend to multiple aspects such as military fields, civil fields, ecological protection fields and the like. However, the ocean exploration conditions are severe, and the stable hovering problem of the AUV cannot be solved well. At present, for the influence of the turbulent flow, the stress is mainly judged by adopting analog calculation, and then the AUV attitude is adjusted. However, this introduces a lot of computation and is limited by the speed of the simulation computation, and cannot autonomously adjust the attitude in time according to the change of the flow state.
Disclosure of Invention
In order to enable the AUV to autonomously and rapidly adjust the attitude and ensure the stable suspension when the AUV is influenced by turbulent flow, the invention discloses an AUV stable suspension device based on a flow field velocity decomposition method, which comprises an AUV main body, wherein an X axial flow velocity sensor, a Y axial flow velocity sensor and a Z axial flow velocity sensor are arranged on the surface of the AUV main body, the X axial flow velocity sensor is arranged at the top of the front end of the AUV main body, the Y axial flow velocity sensor is arranged at the top of the middle part of the AUV main body, and the Z axial flow velocity sensor is arranged at the side of the middle part of the AUV main;
the lateral surface of the AUV main body is provided with a plurality of vector thrusters in a symmetrical arrangement, the plurality of vector thrusters and the axis of the AUV main body are in the same horizontal plane, and any vector thruster has an adjusting range of 180 degrees in the horizontal plane and 180 degrees in the vertical plane;
the pitching attitude adjusting device is arranged in the AUV main body and comprises a gyroscope, and the gyroscope is arranged at the front end in the AUV main body and is used for setting a hovering angle and providing real-time angle change;
the pitching attitude adjusting device further comprises a stepping motor, a slide rail and a balancing weight, wherein the balancing weight is installed on the slide rail, the stepping motor is installed at the tail end of the slide rail, and the stepping motor is installed at the rear end inside the AUV main body 1; the stepping motor is matched with the vector thruster, and six degrees of freedom control of AUV advancing and retreating, lateral movement, submergence, bow rocking, transverse inclination and longitudinal inclination can be realized.
Optionally, the gyroscope is counter-balanced with the stepper motor.
Optionally, a sliding device is installed between the counterweight block and the sliding rail to reduce friction.
Optionally, the vector thrusters are arranged in a symmetrical arrangement at the sides 1/4, 3/4 of the AUV.
Optionally, the counterweight block should be pasted with an anti-collision rubber pad on the front and the back.
Optionally, the method for flow field velocity decomposition calculation includes the following steps:
The step 2 further comprises: step 201, when calculating the lateral force, because the lateral flow is similar to the cylindrical flow, the flow state of the tail negative pressure region is complex, the real-time calculation time is long, and in order to make the AUV quickly solve the stress situation according to the lateral flow, different u should be used in advance during the AUV testθ∞And obtaining node data of the negative pressure and smoothing the node data, and directly calling the data when calculating the stress condition of the side surface so as to ensure the accuracy of calculation.
The step 2 further comprises: step 202, the deflection angle theta of the set AUV on the X axisxThen, the thrust change delta F of the vector thruster is obtained by using the AUV gravity moment equal to the moment of the vector thruster on the X axisτxAccording to the set deflection angle theta of the Z axis of the AUVzThen, the thrust change Δ F is obtained by a moment operationτz。
By adopting the technical scheme, the invention has the following beneficial effects:
the AUV stable hovering device based on the flow field velocity decomposition method realizes a large amount of analog calculation, performs a small amount of linear calculation by additionally arranging a flow velocity sensor and a gyroscope outside the AUV, and can quickly realize hovering stability of the AUV under different postures by applying reverse thrust by a vector thruster and adjusting the position of a balancing weight to match. The device overall structure is simple, and equipment maintenance is convenient, calculates fast, can adjust rapidly according to real-time data, is fit for multiple different grade type AUV.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a perspective view of a stabilization device for the main portion of an AUV of the present invention;
FIG. 2 is a schematic view of an AUV vector thruster arrangement of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a schematic view of the operation principle of the counterweight;
fig. 5 is a flow chart of the AUV stabilizing device of the present invention.
In the figure, an AUV main body 1, a gyroscope 2, a stepping motor 3, a slide rail 4, a balancing weight 5, an X axial flow speed sensor 6, a Y axial flow speed sensor 7, a Z axial flow speed sensor 8 and a vector thruster 9.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
as shown in fig. 1-2, an AUV stable hovering device based on a flow field velocity decomposition method includes an AUV main body 1, where an X-axis flow velocity sensor 6, a Y-axis flow velocity sensor 7, and a Z-axis flow velocity sensor 8 are disposed on a surface of the AUV main body 1, the X-axis flow velocity sensor 6 is mounted at a top of a front end of the AUV main body 1, the Y-axis flow velocity sensor 7 is mounted at a top of a middle portion of the AUV main body 1, and the Z-axis flow velocity sensor 8 is mounted at a side of the middle portion of the AUV main body;
the lateral surface of the AUV main body 1 is provided with a plurality of vector thrusters 9 in a symmetrical arrangement, the plurality of vector thrusters 9 and the axis of the AUV main body 1 are in the same horizontal plane, and any vector thruster 9 has an adjusting range of 180 degrees in the horizontal plane and 180 degrees in the vertical plane;
a pitching attitude adjusting device is arranged in the AUV main body 1 and comprises a gyroscope 2, and the gyroscope 2 is arranged at the front end in the AUV main body 1 and is used for setting a hovering angle and providing real-time angle change;
the pitching attitude adjusting device further comprises a stepping motor 3, a slide rail 4 and a balancing weight 5, wherein the balancing weight 5 is installed on the slide rail 4, the stepping motor 3 is installed at the tail end of the slide rail 4, and the stepping motor 3 is installed at the rear end inside the AUV main body 1;
the stepping motor 3 is matched with the vector thruster 9, and six degrees of freedom control of AUV advancing and retreating, lateral movement, submergence, bow swinging, transverse inclination and longitudinal inclination can be realized.
The gyroscope 2 and the stepping motor 3 are balanced by balance weight.
And a sliding device is arranged between the balancing weight 5 and the sliding rail 4 to reduce friction.
The vector thrusters 9 are arranged at the sides 1/4, 3/4 of the AUV in a symmetrical arrangement.
The anti-collision rubber pad is adhered to the front surface and the back surface of the balancing weight 5 to prevent the balancing weight 5 from impacting the gyroscope 2 and the stepping motor 3 due to overlarge stroke.
The X-axis flow velocity sensor 6, the Y-axis flow velocity sensor 7 and the Z-axis flow velocity sensor 8 are orthogonally installed on the surface of the AUV main body 1 to reduce the influence on the flow, and the sensors in three directions are orthogonally arranged in a three-dimensional space, so that the measured flow velocity is the flow velocity on the surface of the AUV main body 1.
As shown in fig. 2-3, the vector thruster 9 is adjusted by a bevel gear set, can adjust the direction and size at any time when working according to requirements, has a certain safety distance with the AUV main body 1 under the condition of the maximum rotation angle, and can adjust the angle within the adjustment range of 180 degrees on the horizontal plane and 180 degrees on the vertical plane.
The slide rail 4 takes the maximum length without affecting the installation of the gyroscope 2 and the stepping motor 3. Step motor 3 installs and makes balancing weight 5 remove in order to adjust AUV every single move angle through the rotation of control threaded rod at the afterbody of slide rail 4.
When the AUV works, the stable hovering is started when the AUV reaches the designated working point and the working posture is adjusted; the flow velocity sensor starts to record data, and the flow velocity at infinity is calculated through the flow velocity data.
And (4) according to the flow velocity data in different directions, calculating the pressure distribution of the AUV in different directions by using a G-S equation, and finally obtaining the stress magnitude and direction of the AUV. However, the thrust of the propeller still needs to ensure the stability of two angular rotational degrees of freedom, so the force applied at this time cannot be used as the final force applied by the propeller.
The additional thrust required to be applied by each shaft balance moment is obtained by taking the moment of the rotating shaft through the difference value between the actual angle and the set angle, and the processor processes the thrust and the previous thrust data into resultant force data and then applies reverse thrust by the vector thruster.
Considering that the AUV may be in a non-horizontal state for a long time in a working state, the gyroscope, the stepping motor, the slide rail and the counterweight block are matched to realize the stability of the pitching attitude, and in the process of obtaining the moment and calculating the force for the rotating shaft according to the difference value between the actual angle and the set angle, the thrust change of the vector thruster caused by the change of the longitudinal inclination angle is not calculated, as shown in fig. 4, when the longitudinal inclination angle of the AUV is different from the set angle, the stepping motor performs corresponding displacement on the counterweight block according to the change of the longitudinal inclination angle, so as to achieve the purpose of adjusting the longitudinal inclination angle of the AUV.
As shown in fig. 5, after the underwater attitude of the AUV is set, the AUV is stably opened, the flow velocity sensor measures flow velocity data to calculate the stress of the AUV, measures thrust ensuring the stable attitude of the AUV according to an angle difference, two sets of thrust vectors are synthesized, a vector thruster provides corresponding thrust according to real-time data, and a stepping motor can also ensure that a counterweight block moves to a corresponding position. The stable suspension of the AUV is achieved without manual processing, so that the stable operation of underwater work is ensured.
In some embodiments, the stress of the AUV main body (1) facing the incoming flow has a close relation with the shape thereof, and the stress analysis of different AUVs facing the incoming flow is different. For the sake of simplicity of description of the calculation method, the invention selects an external form of AUV as shown in the figure as an example, but does not represent that the invention is only suitable for this type of AUV.
The method for decomposing and calculating the flow field velocity adopted by the AUV stable hovering device comprises the following steps:
The step 2 further comprises:
step 201, when calculating the lateral surface stress, the lateral surface streaming is similar to the cylindrical streaming, the flow state of the tail negative pressure region is complex, the real-time calculation time is long, and in order to enable the AUV to rapidly solve the stress condition according to the lateral surface streaming, different u should be used in advance during the AUV testθ∞And obtaining node data of the negative pressure and smoothing the node data, and directly calling the data when calculating the stress condition of the side surface so as to ensure the accuracy of calculation.
The step 2 further comprises:
step 202, the deflection angle theta of the set AUV on the X axisxAfter (transverse inclination), the thrust change delta F of the vector thruster (9) is obtained by using the AUV gravity moment equal to the moment of the vector thruster (9) on the X axisτxAccording to the set deflection angle theta of the Z axis of the AUVzAfter (swinging bow), the thrust change delta F is obtained through moment calculationτz。
The vector thruster (9) can rapidly and automatically adjust the direction and the magnitude of the thrust after obtaining five groups of thrust data, apply the force opposite to the stress direction of the AUV main body (1) to ensure the stability of the AUV on five degrees of freedom, and the stepping motor (3) and the balancing weight (5) are mutually matched to realize the control of the sixth degree of freedom (pitching).
The inverse calculation of the thrust is rapidly carried out by utilizing the decomposition of the flow field speed and matching with a linear equation, the finally calculated thrust is applied by a vector propulsion device (9), and a stepping motor (3) drives a balancing weight (5) to adjust the pitching angle in real time to complete the stable suspension of the AUV.
Next, a flow field velocity decomposition method for stabilizing the operation of the hovering device in this embodiment will be described in further detail.
The analysis of the total external force applied to the AUV in water can be expressed as:
wherein, FFIs hydrodynamic force acting on the AUV, B is buoyancy force of the AUV, G is gravity force of the AUV,
is the resultant force expression of all vector thrusters. Where B and G are constant under a constant AUV displacement. In order to improve the mechanical stability, the degrees of freedom in 6 directions thereof need to be limited.
The flow field velocity decomposition method comprises the following specific steps:
a flow field is established by data measured by the three sets of flow velocity sensors S100,
expressed as in X-R-theta polar coordinate system
The potential flow superposition formula of the cylindrical streaming:
wherein theta is an included angle between a connecting line of the AUV surface point and the origin and the X axis,
by the diameter of the fluid as it bypasses the ballVelocity of rotation
Peripheral speed
(note that, the same axial direction is positive counterclockwise, and hereinafter, the peripheral speed is defined as default without any special expression);
when r is r0While obtaining the radial velocity u of the surface of the cylinderrAnd a peripheral speed uθDistribution formula of size
G-S equation operation is carried out on each point of the surface streamline,
the pressure in the X direction is: namely, it is
The viscous force in the X direction is obtained by empirical formula:
the resultant force in the X direction can be expressed as Fx＝Fpx+Ff；
S200, obtaining the radial velocity V of the fluid flowing through the lateral surface of the AUV according to the potential flow function in S100rAnd a peripheral speed VθDistribution formula of
Wherein, theta is the included angle between the projection of the incoming flow direction at infinity on a YOZ plane and the Y axis, and the incoming flow speed at infinity is reversely deduced
From the G-S equation, the pressure surface integral can be used to obtain the front pressure
The calculation of the negative pressure area generated on the back side in the incoming flow direction is related to the Reynolds number Re and the boundary layer separation under different flow rates, and the actual fluid can generate different flow states according to the Re after bypassing the cylindrical side surface of the machine, so the force F brought by the negative pressure area on the back side-lBy different u in AUV testθObtaining corresponding F-lNode data is smoothed to facilitate calling;
the magnitude of the side force in the incoming flow direction is equal to F ═ Fl+F-l，
Wherein
Further obtain FlThe force components in the y, z directions are:
s300: respectively controlling the three rotational degrees of freedom;
angular rotational degree of freedom control (yaw) about the X-axis: at a set machine X-axis deflection angle thetaxThe thrust of the vector thruster is then obtained from the balance of the AUV gravity moment and the vector thruster moment, i.e.
Wherein lxActing as moment arms from the centre of gravity of the AUV to the axis of rotation, FτxiFor each vector propeller thrust magnitude, l, that can be taken from the X-axisxiIs the moment arm from the vector propeller to the rotating shaft;
vector propellers cause the machine to deflect at an actual angle θ 'when encountering oncoming flow'xFrom a set angle of deflection thetaxDeviations occur, so that on the basis thereof, the change in the actual thrust resulting from the angular difference should be
Wherein lx＝h cosθx，l′xH cos θ' x, h is the distance from the center of gravity of the AUV to the rotation axis, k is the sensitivity coefficient, and is in principle not more than 1; here,. DELTA.FτxiThe positive and negative of the vector thruster do not represent the change of the thrust of the vector thruster, but represent the change direction of the torque applied to the X axis by the vector thruster, the positive direction of the X axis takes the anticlockwise direction as positive, the moment change distribution among the n vector thrusters can be determined according to the situation, and the total moment accords with the formula;
controlling the degree of freedom of angular rotation around the Z axis (bow rocking): can get the moment of the Z axis
Wherein Δ FτzilziThe torque change value of the ith vector thruster capable of taking the torque to the Z axis is that the positive and negative do not represent the change of the thrust of the vector thruster but represent the direction of the vector thruster applying the torque to the Z axis, and the same direction of the Z axis is positive anticlockwise;
θzto set a deflection angle of theta 'with the Z axis as a center'zTo the actual deflection angle, kzRepresenting sensitivity coefficient, whose value can be referenced
l is the mechanical length of the steel wire,
is 1ziThe distribution of the moment variation among the n vector thrusters can be determined according to the situation, and the total moment accords with the formula;
③ control of angular rotational degrees of freedom (pitch) about the Y axis: for the trim, considering the layout of the vector thruster, the complexity of data processing and the general structure of the AUV, the trim stability of the vector thruster in the Y-axis direction is realized by adopting the matching of the stepping motor and the balancing weight, and the balancing weight which can enable the AUV to keep horizontal is arranged on the slide railThe position of the sliding rail is marked as an original point, and a one-dimensional coordinate system L, theta is established from back to front along the sliding railyFor the rotation angle of the slide rail around the Y-axis, the motion variable of the counterweight can be expressed as:
wherein theta isyTo set the deflection angle, θ'yTo the actual deflection angle, kyIs a sensitivity coefficient; v the sign of the final result does not represent the size but the displacement direction of the balancing weight on the coordinate system L, and the positive sign moves forwards;
s400: the-F in S100, S200 and S300x、-Fy、-Fz、ΔFτxi、ΔFτziThe numerical values are superposed in the space direction, resultant force data of the thrust is finally obtained, the thrust is applied by the vector thruster, and meanwhile, the stepping motor carries out corresponding displacement on the balancing weight according to the v calculated in the S300, so that the stability of the AUV main body is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. An AUV stable hovering device based on a flow field velocity decomposition method is characterized in that: the device comprises an AUV main body (1), wherein an X-axis flow speed sensor (6), a Y-axis flow speed sensor (7) and a Z-axis flow speed sensor (8) are arranged on the surface of the AUV main body (1), the X-axis flow speed sensor (6) is installed at the top of the front end of the AUV main body (1), the Y-axis flow speed sensor (7) is installed at the top of the middle of the AUV main body (1), and the Z-axis flow speed sensor (8) is installed at the side of the middle of the AUV main body (1);
the lateral surface of the AUV main body (1) is provided with a plurality of vector thrusters (9) in a symmetrical arrangement mode, the axis of the vector thrusters (9) and the axis of the AUV main body (1) are in the same horizontal plane, and any vector thruster (9) has an adjusting range of 180 degrees in the horizontal plane and 180 degrees in the vertical plane;
a pitching attitude adjusting device is arranged in the AUV main body (1), the pitching attitude adjusting device comprises a gyroscope (2), and the gyroscope (2) is arranged at the front end in the AUV main body (1) and is used for setting a hovering angle and providing real-time angle change;
the pitching attitude adjusting device further comprises a stepping motor (3), a sliding rail (4) and a balancing weight (5), wherein the balancing weight (5) is installed on the sliding rail (4), the stepping motor (3) is installed at the tail end of the sliding rail (4), and the stepping motor (3) is installed at the rear end inside the AUV main body 1; the stepping motor (3) is matched with the vector thruster (9) to realize six-degree-of-freedom control of AUV advancing and retreating, lateral movement, submerging and floating, bow swinging, transverse inclination and longitudinal inclination.
2. The AUV stable hovering device based on flow field velocity decomposition method according to claim 1, wherein: and the gyroscope (2) and the stepping motor (3) are balanced in a counterweight manner.
3. The AUV stable hovering device based on flow field velocity decomposition method according to claim 1, wherein: and a sliding device is arranged between the balancing weight (5) and the sliding rail (4) to reduce friction.
4. The AUV stable hovering device based on flow field velocity decomposition method according to claim 1, wherein: the vector thrusters (9) are arranged at the sides 1/4, 3/4 of the AUV in a symmetrical layout.
5. The AUV stable hovering device based on flow field velocity decomposition method according to claim 1, wherein: and the front surface and the back surface of the counterweight block (5) are adhered with anti-collision rubber pads.
6. The AUV stable hovering device based on flow field velocity decomposition method according to claim 1, wherein the flow field velocity decomposition calculation method includes the following steps:
step 1, establishing a carrier coordinate system by taking the AUV buoyancy center of gravity as an origin and the AUV forward advancing direction as the positive direction of an X axis, expressing the component of an incoming flow in the direction of X, Y, Z, and setting the AUV suspension time and the AUV suspension timeThe included angle theta between the axis and the carrier coordinate system at the initial momentx、θy、θz；
Step 2, analyzing the AUV surface flow by using a potential flow superposition principle to further obtain the flow velocity distribution of the flow velocity on the AUV surface, and calculating the pressure distribution of the AUV in different directions by using a G-S equation to obtain integral resultant force, namely the AUV stress;
step 3, after the stress resultant force of the AUV main body is obtained, a vector thruster applies reverse thrust to control five degrees of freedom of advancing and retreating, slippage, submergence, transverse inclination and bow swinging; the control of the pitching freedom degree is realized by mutually matching a gyroscope and a stepping motor.
7. The AUV stable hovering device based on flow field velocity decomposition method according to claim 6, wherein: the step 2 further comprises:
step 201, when calculating the lateral force, because the lateral flow is similar to the cylindrical flow, the flow state of the tail negative pressure region is complex, the real-time calculation time is long, and in order to make the AUV quickly solve the stress situation according to the lateral flow, different u should be used in advance during the AUV testθ∞And obtaining node data of the negative pressure and smoothing the node data, and directly calling the data when calculating the stress condition of the side surface so as to ensure the accuracy of calculation.
8. The AUV stable hovering device based on flow field velocity decomposition method according to claim 6, wherein the step 2 further comprises:
step 202, the deflection angle theta of the set AUV on the X axisxThen, the thrust change delta F of the vector thruster is obtained by using the AUV gravity moment equal to the moment of the vector thruster on the X axisτxAccording to the set deflection angle theta of the Z axis of the AUVzThen, the thrust change Δ F is obtained by a moment operationτz。
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| CN114953053A (en) * | 2022-06-27 | 2022-08-30 | 林青 | Desktop cutting device is used in processing of multi-functional desk |
| CN116562094A (en) * | 2023-05-12 | 2023-08-08 | 大连海事大学 | AUV formation flow field prediction method based on PINN model |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114953053A (en) * | 2022-06-27 | 2022-08-30 | 林青 | Desktop cutting device is used in processing of multi-functional desk |
| CN114953053B (en) * | 2022-06-27 | 2023-06-09 | 东莞市翔泉家具有限公司 | Table top cutting device for processing multifunctional office table |
| CN116562094A (en) * | 2023-05-12 | 2023-08-08 | 大连海事大学 | AUV formation flow field prediction method based on PINN model |
| CN116562094B (en) * | 2023-05-12 | 2023-11-14 | 大连海事大学 | AUV formation flow field prediction method based on PINN model |
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