CN114954854A - Underwater unmanned vehicle water tank volume modeling system and modeling method - Google Patents
Underwater unmanned vehicle water tank volume modeling system and modeling method Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 302
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000007788 liquid Substances 0.000 claims abstract description 49
- 238000004364 calculation method Methods 0.000 claims abstract description 22
- 238000002347 injection Methods 0.000 claims abstract description 20
- 239000007924 injection Substances 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 12
- 238000005303 weighing Methods 0.000 claims abstract description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 22
- 238000005070 sampling Methods 0.000 claims description 22
- 238000005259 measurement Methods 0.000 claims description 17
- 238000012795 verification Methods 0.000 claims description 13
- 238000013178 mathematical model Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 238000013524 data verification Methods 0.000 claims description 6
- 239000008399 tap water Substances 0.000 claims description 3
- 235000020679 tap water Nutrition 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 4
- 230000001788 irregular Effects 0.000 abstract description 4
- 230000010349 pulsation Effects 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 239000013505 freshwater Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012821 model calculation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B11/00—Interior subdivision of hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention relates to the technical field of underwater unmanned aircrafts, in particular to a water tank volume modeling system of an underwater unmanned aircraft, which comprises a water tank, a liquid level sensing unit, a water supply container, a weighing module, a data processing module and a numerical value fitting module, wherein the liquid level sensing unit is arranged in the water tank and used for measuring the liquid level height of the water tank and outputting a signal current value, the water supply container is communicated with the water tank through a water injection and drainage device, the weighing module is used for weighing the real-time mass of water in the water supply container, and the data processing module and the numerical value fitting module are used for processing the real-time mass of the water in the water supply container. The invention also provides a water tank volume modeling method of the underwater unmanned vehicle. The modeling system and the water tank modeling method can eliminate the water quantity calculation error caused by the heterogeneous water tank and the internal irregular installation part of the underwater unmanned vehicle to the maximum extent, have higher matching performance with the actual volume model of the water tank, are simple and convenient in numerical fitting data processing and easy to operate, are more accurate in the volume model of the water tank, have high one-time curve fitting precision, and have higher curve fitting precision if being iterated for multiple times.
Description
Technical Field
The invention relates to the technical field of underwater unmanned vehicles, in particular to a water tank volume modeling system and method of an underwater unmanned vehicle.
Background
The heterogeneous water tank for the underwater unmanned vehicle is mainly used for storing buoyancy, needs to have the functions of injecting water into the water tank and draining water out of the water tank through the bidirectional water pump under high-pressure for a water pressure resistant sealed tank, has large pulsation of the bidirectional water injection and drainage device, and simultaneously has air in the tank all the time. Because the water cabin is in a normal-pressure sealing state before water injection, air in the sealed cabin increases along with the water amount in the water cabin during water injection and drainage, the air in the cabin is compressed to have certain pressure in the cabin, and partial air cannot be avoided in a pipeline during water injection and drainage.
The existing heterogeneous water tank volume modeling method for the underwater unmanned vehicle is to perform integral calculation on a three-dimensional graph and establish a water tank volume model calculation formula, and the method is effective for the water tank with a regular internal volume shape, but is difficult to accurately model the heterogeneous water tank and the water tank with an internal mounting part, and the error of the water tank volume calculation formula is large; the other method is that a flowmeter is used for measuring the volume of the water tank, the volume principle of flow calculation water is the integral of the flow velocity and time of the water, the integral of the time inevitably has an accumulative error, the flowmeter has certain difficulty in bidirectional measurement, and meanwhile, the accuracy of flow velocity measurement, the inaccuracy of flow velocity measurement and the accumulative superposition of the accumulative error of the integral of the time due to the pulsation of a bidirectional water injection and drainage device and the influence of air in a pipeline bring larger error to the volume measurement of the water in the water tank and influence the accuracy of the establishment of a water tank volume calculation model.
Disclosure of Invention
Aiming at the defects in the prior art, the invention establishes a heterogeneous water tank volume model for the underwater unmanned vehicle in a weighing mode, measures the liquid level height of the water tank by using a current type liquid level sensor, measures the mass of water in the water tank by using a high-precision electronic scale, and converts the mass into volume by the density of the water. The modeling method comprises the steps of controlling a bidirectional water pump to inject water into a water tank or discharge water from the water tank outwards, sampling actual input and output of a heterogeneous water tank volume model, and performing least square curve fitting on the obtained water quantity, liquid level and height of the water tank and the volume of water in the water tank after sampling is completed to obtain a heterogeneous water tank volume calculation mathematical model. The water tank volume model established by the method can avoid errors caused by water tank heterogeneous types and internal irregular installation parts, realizes bidirectional sampling of measured data, solves the problem of large flow measurement errors caused by the pulsation of a bidirectional water injection and drainage device and air in a pipeline, is simple and easy to operate in a data processing method, has higher matching performance with an actual water tank volume model, and is more accurate in a water tank volume calculation model.
In order to solve the technical problems, the invention adopts the technical scheme that: the underwater unmanned vehicle water tank volume modeling system comprises a water tank and a liquid level sensing unit, wherein the liquid level sensing unit is arranged in the water tank and is used for measuring the liquid level height x of the water tank i And output as a signal current value I i ；
The water supply container is communicated with the water tank through a water injection and drainage device;
the weighing module is arranged at the bottom of the water supply container and is used for weighing the real-time mass m of water in the water supply container i ；
A data processing module for converting the signal current value I i Converted into real-time liquid level height x i Mass m of water in the water supply container i Conversion into real-time mass M of water in water tank i Converting the converted real-time mass Mi of the water tank into a real-time volume yi of water in the water tank;
a numerical fitting module for fitting the tank volume model with input parameter of liquid level height x i And the output parameter y of the water mass in the water tank i Sampling multiple groups of numerical values to obtain multiple groups of input parameters x i And an output parameter y i Performing least square curve fitting to obtain a mathematical model of the volume of the water tank;
and the model verification module is used for substituting the numerical value-fitted water tank volume mathematical model into the model verification module to verify the calculation precision of the obtained water tank volume mathematical model.
In a preferred scheme, the weighing module is an electronic scale.
In a preferred scheme, the water injection and drainage device is a bidirectional pump.
The invention also provides a water tank volume modeling method of the underwater unmanned vehicle, which comprises the following steps:
a, after a water tank is cleaned, placing a water supply container on an electronic scale, enabling the count of the electronic scale to return to zero, filling tap water into the water supply container, and recording the mass M0 of water in the current water supply container;
b, water injection sampling, namely controlling a water injection and drainage device to inject water into the water tank, sampling within the volume range of the water tank, and recording the liquid level height signal current value Ii in the water tank and the quality mi of water in a water supply container in real time to obtain a sampling data set (Ii, mi);
c, water drainage sampling, namely controlling a water injection and drainage device to discharge water in the water tank into a water supply container when the water amount in the water tank is about to reach the upper limit of the measurement of the liquid level sensor, and recording the liquid level height signal current value Ii in the water tank and the quality mi of the water in the water supply container in real time to obtain a sampling data set (Ii, mi);
d, data processing, namely converting the measured liquid level height signal current value into a liquid level height value xi, converting the measured mass Mi of the water supply container into the real-time mass Mi of the water tank, and converting the converted real-time mass Mi of the water tank into the real-time volume yi of water in the water tank;
e, fitting numerical values, and performing least square curve fitting on the obtained multiple groups of input parameters xi and output parameters yi to obtain a water tank volume mathematical model.
In a preferred embodiment, step e includes using MATLAB function p ═ polyfit (x, y, n), where the fitting polynomial degree takes 3, and fitting to obtain the following tank volume model:
y＝p[0]*x 3 +p[1]*x 2 +p[2]*x+p[3]。
in a preferred embodiment, the method further comprises the following steps: and (c) repeating the sampling process in the step (b) and the step (c) by the water tank volume model data verification module, increasing and recording the water quantity value output by the data verification module, and performing difference calculation on the water quantity value output by the data verification module and the water quantity value obtained by measurement and conversion of the electronic scale to obtain the calculation accuracy index of the water tank volume model.
Compared with the prior art, the invention has the following beneficial effects:
1. the modeling system and the water tank modeling method can eliminate water volume calculation errors caused by the heterogeneous water tank of the underwater unmanned vehicle and the internal irregular installation part to the maximum extent, have higher matching performance with an actual volume model of the water tank, are simple and easy to operate in numerical fitting data processing, are more accurate in the water tank volume model, have high one-time curve fitting precision, and have higher curve fitting precision if repeated iteration is carried out.
2. The invention realizes the bidirectional sampling of the water volume in the water tank by a weighing mode, directly obtains the water volume liquid level height and the water mass in the water tank, avoids the accumulation of water volume measurement, and can solve the problem of large flow measurement error caused by the pulsation of a bidirectional water injection and drainage device and air in a pipeline.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a system flow diagram of the method of the present invention.
FIG. 3 is a graph comparing model curves in the examples of the present invention.
In the above drawings: 10. a water tank; 20. a current type liquid level sensor; 30. a water supply container; 40. a bi-directional pump; 50. an electronic scale.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following description of the preferred embodiments of the present invention is provided in conjunction with specific examples, but it should be understood that the drawings are for illustrative purposes only and should not be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted; the positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
The invention is applied to the field of underwater unmanned vehicles, carries out test verification on single set of water tank modeling verification and batch production water tanks, can eliminate water quantity calculation errors caused by water tank heterogeneous and internal irregular installation parts, has better matching performance of a water tank volume model and high water tank water quantity measurement precision, and meets the requirement of the underwater vehicle on the control precision of the water tank water quantity. The present invention will be further explained with respect to specific embodiments.
The embodiment provides an underwater unmanned navigationThe water tank volume modeling system comprises a water tank 10; the device also comprises a current type liquid level sensor 20, wherein the current type liquid level sensor 20 is arranged in the water tank 10 and is used for measuring the liquid level height x of the water tank 10 i And output as a signal current value I i， The output current signal value range is 4-20mA, and is in positive proportion with the water quantity, liquid level and height in the water tank 10;
a water supply container 30, the water supply container 30 being communicated with the water tank 10 by a bidirectional pump 40;
an electronic scale 50, wherein the electronic scale 50 is arranged at the bottom of the water supply container 40 and is used for weighing the real-time mass m of the water in the water supply container 40 i ；
A data processing module for converting the signal current value I i Converted to real-time liquid level height x i Mass m of water in the water supply container 30 i Conversion into real-time mass M of water in water tank i Converting the converted real-time mass Mi of the water tank 10 into a real-time volume yi of water in the water tank;
a numerical fitting module for fitting the tank volume model with input parameter liquid level height x i And the volume y of water in the output parameter water tank i Sampling multiple groups of numerical values to obtain multiple groups of input parameters x i And an output parameter y i And performing least square curve fitting to obtain a mathematical model of the volume of the water tank.
In the description of this embodiment, those skilled in the art know that the bidirectional pump is used to realize bidirectional liquid feeding through forward and reverse rotation of the motor to achieve the purpose of the present invention, and the specific structure may refer to the marine bidirectional pump disclosed in publication No. CN 105221417B, the bidirectional pump 40 is not a real-time improved structure of the present invention, and the bidirectional pump is the prior art and the common knowledge in the art, and those skilled in the art know that the bidirectional pump can realize the function of bidirectional liquid feeding, and the structure and the principle of the bidirectional pump 40 are not described in detail in this embodiment.
The underwater unmanned vehicle water tank volume modeling method provided by the embodiment comprises the following steps:
step a, opening a sealing cover of a water tank 10, cleaning water in the water tank 10, and then, sealing the sealing coverAfter the water supply container is assembled, the water supply container is placed on the electronic scale, the peeling quality of the electronic scale returns to zero, the water supply container is filled with tap water, and the mass M of the water in the current water supply container is recorded 0 ；
B, water injection sampling, namely controlling a bidirectional pump 40 to inject water into the water tank, sampling within the water quantity range of the water tank 10, and recording the liquid level height signal current value in the water tank and the quality of water in a water supply container in real time;
c, water drainage sampling, wherein when the water quantity in the water tank is about to reach the upper limit of the measurement of the liquid level sensor, the bidirectional pump 40 is controlled to drain the water in the water tank 10 into the water supply container 30, and the signal current value I of the liquid level height in the water tank 10 is recorded in real time i And mass m of water in the water supply container i ；
Step d, data processing:
(1) a plurality of groups of recorded liquid level height signal current values I i Obtaining the height value x of the liquid level by conversion i ；
(2) When water is filled, the recorded mass of water in the water supply container 30 at each time is compared with the real-time mass M of water in the water supply container recorded for the first time 0 Subtracting to obtain the mass M of water in the water tank i Will real-time mass M i Dividing by the density of the fresh water to obtain the real-time volume y of the water in the water tank i Here, the density of the fresh water is 1000kg/m 3 (ii) a During water drainage, the real-time mass M of the water in the water tank is obtained by subtracting the recorded real-time mass of the water in the water supply container every time from the last recorded mass of the water in the water supply container i Will real-time mass M i Dividing by the density of the fresh water to obtain the real-time volume y of water in the tank 10 i ；
(3) The liquid level height value x of the measured data obtained by sampling i And its corresponding volume of water in the tank y i Inputting the data into an Excel table to obtain two rows of data, wherein one row is the real-time liquid level height x of the water tank i The other column is the real-time volume y of the water in the water tank corresponding to the liquid level height of the water tank i ；
And e, fitting numerical values, namely performing minimum two-way curve fitting on the sampled data by adopting MATLAB software to obtain a water tank water quantity calculation formula:
(1) running MATLAB software, and importing the water tank liquid level height in the Excel table in the step three and the quality data of water in the water tank;
(2) newly creating an MATLAB script file, and inputting and running the following codes in an editor:
p＝polyfit(x,y，n)，
wherein n is the fitting polynomial degree, and the code is operated to obtain the coefficient of the nth polynomial; here, n is 3, and the code is run to obtain a calculation formula of the water tank volume model:
y＝p[0]*x 3 +p[1]*x 2 +p[2]*x+p[3]。
in the embodiment, because the underwater unmanned vehicle cannot read through human eyes due to the characteristics of the underwater unmanned vehicle, the current type liquid level sensor 20 is not suitable for being used as a direct-reading type liquid level meter, and the current signal is output and then converted into the real-time liquid level height in the water tank according to the coefficient relation, so that the automatic data reading can be realized, the data processing of the subsequent steps is facilitated, and the use requirement of unmanned navigation is met.
In another preferred embodiment, the underwater unmanned vehicle water tank volume modeling system further comprises a model verification module, wherein the model verification module is used for substituting the numerically-fitted water tank volume mathematical model into the model verification module to verify the calculation accuracy of the obtained water tank volume mathematical model.
In this embodiment, the underwater unmanned vehicle water tank volume modeling method further includes step f, model verification: and (4) verifying the calculation accuracy of the water tank volume model, substituting a water tank volume model calculation formula into a water tank water quantity measurement verification module, repeating the sampling process of the step b and the step c, increasing and recording the water quantity value output by the measurement verification module, and performing difference calculation on the water quantity value output by the measurement verification module and the water quantity value obtained by measurement and conversion of the electronic scale 50 to obtain the calculation accuracy index of the water tank volume model.
In the practical test process, the three-dimensional graph model integration method is adopted for comparison, referring to the attached drawing 3, the model obtained by comparing the modeling method in the embodiment is closer to the practical volume of the water tank, the result precision after modeling calculation is higher, and the modeling method provided by the invention is more beneficial to finishing controlling the water injection and drainage of the water tank.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (8)
1. The underwater unmanned vehicle water tank volume modeling system is characterized by comprising a water tank and further comprising
A liquid level sensing unit disposed in the water tank for measuring a liquid level height x of the water tank i And output as a signal current value I i ；
The water supply container is communicated with the water tank through a water injection and drainage device;
the weighing module is arranged at the bottom of the water supply container and is used for weighing the real-time mass m of water in the water supply container i ；
A data processing module for converting the signal current value I i Converted to real-time liquid level height x i Mass m of water in the supply tank i Conversion into real-time mass M of water in water tank i Converting the converted real-time mass Mi of the water tank into a real-time volume yi of water in the water tank;
a numerical fitting module for fitting the tank volume model with input parameter of liquid level height x i And the output parameter y of the water in the water tank i Sampling multiple groups of numerical values to obtain multiple groups of input parameters x i And an output parameter y i And performing least square curve fitting to obtain a water tank volume mathematical model.
2. The underwater unmanned vehicle water tank volume modeling system of claim 1, wherein: the model verification module is used for substituting the numerical value-fitted water tank volume mathematical model into the model verification module to verify the calculation accuracy of the obtained water tank volume mathematical model.
3. The underwater unmanned vehicle sump volume modeling system of claim 1, wherein: the liquid level sensing unit is a current type liquid level sensor.
4. The underwater unmanned vehicle sump volume modeling system of claim 1, wherein: the weighing module is an electronic scale.
5. The underwater unmanned vehicle sump volume modeling system of claim 1, wherein: the water injection and drainage device is a bidirectional pump.
6. The underwater unmanned vehicle water tank volume modeling method is characterized by comprising the following steps:
a, after a water tank is cleaned, a water supply container is placed on an electronic scale, the counting of the electronic scale returns to zero, the water supply container is filled with tap water, and the mass M of water in the current water supply container is recorded 0 ；
b, water injection sampling, controlling a water injection and drainage device to inject water into the water tank, sampling within the volume range of the water tank, and recording the signal current value I of the liquid level height in the water tank in real time i And mass m of water in the water supply container i， Obtaining a sample data set (I) i ，m i )；
c, water drainage sampling, when the water quantity in the water tank is about to reach the upper limit of the measurement of the liquid level sensor, controlling the water injection and drainage device to discharge the water in the water tank into a water supply container, and recording the signal current value I of the height of the liquid level in the water tank in real time i And mass m of water in the water supply container i Obtaining a sample data set (I) i ，m i )；
d, data processing, namely converting the measured liquid level height signal current value into a liquid level height value x i Mass m of the water supply container to be measured i Conversion into real-time mass M of a water tank i， And the converted real-time mass M of the water tank i Converted into real-time volume y of water in the tank i ；
e, fitting the numerical values to obtain a plurality of groups of input parameters x i And an output parameter y i And performing least square curve fitting to obtain a mathematical model of the volume of the water tank.
7. The method for modeling the water tank volume of an underwater unmanned vehicle as claimed in claim 6, wherein step e: using MATLAB function p ═ polyfit (x, y, n), where the fitting polynomial degree takes 3, the following water tank volume model was obtained by fitting:
y＝p[0]*x 3 +p[1]*x 2 +p[2]*x+p[3]。
8. the method for modeling the water tank volume of an underwater unmanned vehicle as claimed in claim 6, further comprising the step of f: and (c) repeating the sampling process in the step (b) and the step (c) by the water tank volume model data verification module, increasing and recording the water quantity value output by the data verification module, and performing difference calculation on the water quantity value output by the data verification module and the water quantity value obtained by measurement and conversion of the electronic scale to obtain the calculation accuracy index of the water tank volume model.
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2022
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| US20040149003A1 (en) * | 2003-01-31 | 2004-08-05 | Ab Volvo Penta | Method and arrangement for indirectly determining fill characteristics of a fluid tank on a marine vessel |
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