CN114428507B - Vertical docking algorithm for shallow aircraft - Google Patents

Vertical docking algorithm for shallow aircraft Download PDF

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CN114428507B
CN114428507B CN202210040860.2A CN202210040860A CN114428507B CN 114428507 B CN114428507 B CN 114428507B CN 202210040860 A CN202210040860 A CN 202210040860A CN 114428507 B CN114428507 B CN 114428507B
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杨艳彬
鄢立夏
潘如东
张川
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Harbin Institute Of Technology Robot Group Hangzhou Bay International Innovation Research Institute
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Abstract

The invention relates to the field of automatic control of shallow aircrafts, in particular to a vertical docking and berthing algorithm for shallow aircrafts, which comprises the following steps: setting an expected pitch angle, an expected course angle and an expected running speed of a shallow aircraft body; calculating the real-time propulsion quantity of each propeller according to the set value, and controlling the shallow aircraft to run; the shallow aircraft runs to the water surface, and the control is finished; the advantages are that: the underwater shallow aircraft is driven to move vertically and horizontally on the water surface through underwater closed-loop maneuver so as to finish docking actions; the method lays a foundation for improving the working condition adaptability of the shallow aircraft and the operation convenience and practicality of the shallow aircraft.

Description

Vertical docking algorithm for shallow aircraft
Technical Field
The invention relates to the field of automatic control of shallow aircrafts, in particular to a vertical docking algorithm for shallow aircrafts.
Background
In the prior art, the automatic docking mode of the shallow aircraft is horizontal docking, however, under some working conditions, the vertical docking mode of the shallow aircraft has higher convenience and practicability compared with the horizontal docking mode. However, no vertical docking algorithm for the shallow aircraft exists in the current automatic control algorithm for the shallow aircraft.
Based on this, the present application is hereby proposed.
Disclosure of Invention
The invention aims to provide a vertical docking algorithm for shallow-aircraft, which realizes vertical translational travel on the water surface by using the shallow-aircraft running under water through underwater closed-loop maneuvering so as to complete the docking action.
In order to achieve the above object, the technical scheme of the present invention is as follows:
vertical docking algorithm for shallow aircraft with six forward and reverse propulsion underwater propellers, wherein the propulsion of two vertical propellers is denoted as T S1 And T S2 The propulsion of the two transverse propellers is denoted T H2 And T H2 The propulsion of the left main propulsion is denoted as T Z The thrust amount of the right main propeller is denoted as T Y ；
Constructing a shallow aircraft body coordinate system, wherein the length direction of the shallow aircraft body is taken as an X axis, the width direction is taken as a Y axis, the height direction is taken as a Z axis, and the rotation angle of the shallow aircraft body around the Y axis is taken as a pitch angle phi J The angle of rotation around the Z axis is the heading angle psi J ；
The method comprises the following steps:
setting a desired pitch angle phi of a shallow aircraft body r Desired heading angle ψ r Desired operating speed v r ；
Calculating the real-time propulsion quantity of each propeller according to the set value, and controlling the shallow aircraft to run;
the shallow aircraft runs to the water surface, and the control is finished;
the calculation formula of the propulsion amount of each propeller is as follows:
Figure BDA0003470159960000021
Figure BDA0003470159960000022
Figure BDA0003470159960000023
Figure BDA0003470159960000024
Figure BDA0003470159960000025
Figure BDA0003470159960000026
wherein L is φ L is the distance from any vertical propeller to the center of the shallow aircraft ψ I is the distance from any transverse propeller to the center of the shallow aircraft φ To rotate inertia around the Y axis of the machine body, I ψ To moment of inertia about the Z axis of the body, k 1 And k 2 In order to control the parameters of the device,
Figure BDA0003470159960000027
indicating the descent speed of the superficial aerostat, +.>
Figure BDA0003470159960000028
Representing the horizontal travel speed of the superficial aircraft, tanh being the hyperbolic tangent saturation function, ++>
Figure BDA0003470159960000029
Angular velocity indicative of the pitch angle of the shallow aircraft body, < >>
Figure BDA00034701599600000210
And the angular velocity of the course angle of the shallow aircraft body is represented.
Further, the desired value settings for the shallow aircraft include the following:
dividing the vertical docking and berthing process of the shallow aircraft into a pitching and submerging stage of the aircraft body, a pitching stage of the aircraft body and a vertical translation stage of the aircraft body, setting the expected course angle of the three stages to be 0 degrees, and setting the expected speed to be any value of the range which can be realized by the shallow aircraft; in the pitching and submerging stage of the machine body, the expected pitch angle is set to be-45 degrees, in the pitching stage of the machine body, the expected pitch angle is set to be 0 degrees, and in the vertical translation stage of the machine body, the expected pitch angle is set to be 90 degrees.
The invention has the advantages that: through the control algorithm, automatic vertical docking berthing of the shallow aircraft is realized, and a foundation is laid for improving the working condition adaptability of the shallow aircraft and improving the operation convenience and practicality of the shallow aircraft.
Drawings
FIG. 1 is a schematic diagram of the implementation of an embodiment algorithm;
FIG. 2 is a schematic diagram of a configuration of six propellers of a shallow aircraft;
FIG. 3 is a schematic diagram of body coordinates of the shallow aircraft;
FIG. 4 is a schematic diagram of an implementation flow of vertical docking using an embodiment algorithm;
FIG. 5 is a diagram of a numerical example result using the example algorithm.
Detailed Description
The present invention is described in further detail below with reference to examples.
The embodiment provides a vertical docking algorithm for shallow aircraft motion control to improve the motion advancing and task executing capacity of the shallow aircraft under special working conditions, and the implementation effect of the algorithm is shown in fig. 1 (the right side is the starting point). The final objective of this embodiment is to implement vertical translational travel on the surface of water by means of underwater closed loop maneuver with the shallow craft operating under water to complete the docking maneuver. In this implementation, the underwater motion of the shallow aircraft body includes a controllable pitch submerging stage, a pitching-up stage, and a vertical translation stage.
The power configuration of the shallow boat in this embodiment is shown in fig. 2, and includes six underwater propellers with forward and backward propulsion functions, namely, a "vertical propeller 1", "a" vertical propeller 2"," a "transverse propeller 1", "a" transverse propeller 2"," a "left-main propeller" and a "right-main propeller", wherein the propulsion amounts of the six propellers are respectively denoted by the reference symbol T S1 ,T S2 ,T H1 ,T H2 ,T Z ,T Y The representation is performed, wherein S represents vertical, H represents transverse, Z represents left and Y represents right, the distances from the vertical propeller 1 and the vertical propeller 2 to the center point of the machine body are the same, and the distances from the horizontal propeller 1 and the horizontal propeller 2 to the center point of the machine body are the sameThe distances are the same. To achieve the effect shown in fig. 1, the propulsion amounts of the respective propellers need to be calculated.
As shown in fig. 3, a schematic diagram of a coordinate system of the shallow aircraft body according to the present embodiment is shown, in which the length direction of the shallow aircraft body is taken as the X axis, the width direction is taken as the Y axis, and the height direction is taken as the Z axis. The angle of rotation around the X-axis is called the body roll angle theta based on the right hand rule J The angle of rotation about the Y-axis is called the pitch angle phi of the machine body J The angle of rotation about the Z axis is called the body heading angle ψ J 。
To calculate the amount of propulsion, it is necessary to obtain the angular velocity of the pitch angle
Figure BDA0003470159960000041
And angular velocity of course angle->
Figure BDA0003470159960000042
Since the vertical docking motion ignores roll angle motion, only pitch and heading angle dynamic models need to be built as follows:
Figure BDA0003470159960000043
wherein L is φ Is the distance from the vertical propeller 1 or the vertical propeller 2 to the center of the shallow aircraft, L ψ I is the distance from the transverse propeller 1 or the transverse propeller 2 to the center of the shallow aircraft φ To rotate inertia around the Y axis of the machine body, I ψ Is the moment of inertia about the Z axis of the body. />
Figure BDA0003470159960000044
I.e. phi J Representing phi J Angular acceleration of pitch angle, +.>
Figure BDA0003470159960000045
I.e. psi J The second derivative of (2) represents the angular acceleration of the course angle, and the angular velocity of the pitch angle and the course angle can be obtained by establishing a pitch and course angle dynamic model>
Figure BDA0003470159960000046
In order to realize the calculation of the propulsion quantity, a depth dynamic model and a forward distance dynamic model of the shallow aircraft are also required to be established, wherein the depth dynamic model of the shallow aircraft is as follows
Figure BDA0003470159960000047
The dynamic model of the forward distance is +.>
Figure BDA0003470159960000048
Of the formula (I)
Figure BDA0003470159960000049
Representing the descending acceleration of the shallow aircraft, which is the second derivative of the descending depth d of the shallow aircraft, and obtaining the descending speed +.>
Figure BDA00034701599600000410
Similarly, in the formula->
Figure BDA00034701599600000411
Representing the horizontal traveling acceleration of the shallow aircraft, which is the second derivative of the horizontal traveling distance l of the shallow aircraft, and obtaining the horizontal traveling speed +.>
Figure BDA00034701599600000412
The expected pitch angle and course angle are respectively phi r 、ψ r Let the expected running speed be v r The following saturation control algorithm was constructed:
Figure BDA00034701599600000413
wherein k is 1 ＞0,k 2 And > 0 is a control parameter, and tanh is a hyperbolic tangent saturation function. Because the models of the two vertical thrusters are the same, the models of the two horizontal thrusters are the same, and the models of the left main thruster and the right main thruster are the same, the calculation formula of the propulsion amount of each thruster can be obtained through the saturation control algorithm:
Figure BDA00034701599600000414
Figure BDA0003470159960000051
Figure BDA0003470159960000052
Figure BDA0003470159960000053
Figure BDA0003470159960000054
Figure BDA0003470159960000055
according to the calculation formula of the propulsion amount, the vertical docking control described in this embodiment can be implemented by setting the desired pitch angle, heading angle and speed value, and the execution flow is shown in fig. 4.
As shown in fig. 4, the assignment of the desired pitch angle is performed according to time series signals, and when the time T is less than 5s, the shallow aircraft is in a pitch submerging stage, and the desired pitch angle is set to be-45 degrees; when the time T is more than or equal to 5s and less than 10s, the shallow aircraft is in the upward tilting stage, and the expected pitch angle is set to be 0 degrees; when the time T is more than or equal to 10s, the shallow aircraft is in a vertical translation stage, and the expected pitch angle is set to be 0 degrees. In this process, the desired heading angle is always 0 °; the desired speed is always v r This value can be chosen arbitrarily within the range that the shallow aircraft can achieve. The algorithm ends when it runs to the surface, i.e. the depth value is 0m (the shallow aircraft is exposed to the surface). As shown in fig. 5, a numerical example result diagram using the algorithm of the present embodiment is shown. The time T in the execution flow can be determined according to the actual working condition.
The above embodiments are only for illustrating the concept of the present invention and not for limiting the protection of the claims of the present invention, and all the insubstantial modifications of the present invention using the concept shall fall within the protection scope of the present invention.

Claims (2)

1. Vertical docking algorithm for shallow aircraft with six forward and reverse propulsion underwater propellers, wherein the propulsion of two vertical propellers is denoted as T S1 And T S2 The propulsion of the two transverse propellers is denoted T H2 And T H2 The propulsion of the left main propulsion is denoted as T Z The thrust amount of the right main propeller is denoted as T Y ；
Constructing a shallow aircraft body coordinate system, wherein the length direction of the shallow aircraft body is taken as an X axis, the width direction is taken as a Y axis, the height direction is taken as a Z axis, and the rotation angle of the shallow aircraft body around the Y axis is taken as a pitch angle phi J The angle of rotation around the Z axis is the heading angle psi J ；
The method is characterized by comprising the following steps of:
setting a desired pitch angle phi of a shallow aircraft body r Desired heading angle ψ r Desired operating speed v r ；
Calculating the real-time propulsion quantity of each propeller according to the set value, and controlling the shallow aircraft to run;
the shallow aircraft runs to the water surface, and the control is finished;
the calculation formula of the propulsion amount of each propeller is as follows:
Figure FDA0003470159950000011
Figure FDA0003470159950000012
Figure FDA0003470159950000013
Figure FDA0003470159950000014
Figure FDA0003470159950000015
Figure FDA0003470159950000016
wherein L is φ L is the distance from any vertical propeller to the center of the shallow aircraft ψ I is the distance from any transverse propeller to the center of the shallow aircraft φ To rotate inertia around the Y axis of the machine body, I ψ To moment of inertia about the Z axis of the body, k 1 And k 2 In order to control the parameters of the device,
Figure FDA0003470159950000017
indicating the descent speed of the superficial aerostat, +.>
Figure FDA0003470159950000018
Representing the horizontal travel speed of the superficial aircraft, tanh being the hyperbolic tangent saturation function, ++>
Figure FDA0003470159950000021
Angular velocity indicative of the pitch angle of the shallow aircraft body, < >>
Figure FDA0003470159950000022
And the angular velocity of the course angle of the shallow aircraft body is represented.
2. A vertical docking algorithm for a shallow aircraft according to claim 1, wherein the desired value settings for the shallow aircraft include the following: dividing the vertical docking and berthing process of the shallow aircraft into a pitching and submerging stage of the aircraft body, a pitching stage of the aircraft body and a vertical translation stage of the aircraft body, setting the expected course angle of the three stages to be 0 degrees, and setting the expected speed to be any value of the range which can be realized by the shallow aircraft; in the pitching and submerging stage of the machine body, the expected pitch angle is set to be-45 degrees, in the pitching stage of the machine body, the expected pitch angle is set to be 0 degrees, and in the vertical translation stage of the machine body, the expected pitch angle is set to be 90 degrees.
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