CN115071926B - Autonomous underwater vehicle anchoring bedding task control method based on Petri network - Google Patents
Autonomous underwater vehicle anchoring bedding task control method based on Petri network Download PDFInfo
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- 238000004873 anchoring Methods 0.000 title claims abstract description 18
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
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Classifications
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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
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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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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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
- B63G8/14—Control of attitude or depth
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- 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
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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
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
Abstract
The invention relates to an autonomous underwater vehicle anchoring and bedding task control method based on a Petri network, and belongs to the technical field of automatic control. The method comprises the steps of establishing an autonomous underwater vehicle anchoring and bedding task discrete model based on a Petri network; after reaching the bedding area, switching to a fixed angle submergence state; after submerging to a set height, switching to a posture adjustment state; after the posture adjustment is finished, switching to a constant-height cruising state, and detecting the terrain flatness; after detecting proper topography, stopping the AUV to slow down, and releasing the anchor chain to grab the bottom; after the anchor chain touches the bottom, the AUV gesture is adjusted to finish the bottom lying task; and (3) performing fault detection all the time in the bedroom task, and if faults occur, performing corresponding operation aiming at the fault type. The mode of the invention has lower cost, can realize posture adjustment after sleeping, and is beneficial to secondary starting.
Description
Technical Field
The invention belongs to the technical field of automatic control, and relates to a ground-berthing task control method for an autonomous underwater vehicle. The specific task is to operate the AUV to stably submerge to a certain height from the seabed for sailing, and to anchor and freely submerge to the sleeper.
Background
The autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) has the advantages of good concealment, high operation accuracy, strong task reconstruction capability and the like, and can complete tasks such as ocean monitoring, submarine detection, underwater operation and the like without manual intervention and large-scale water surface support. However, the marine monitoring task has a longer execution period, and for an AUV with limited power energy, the AUV cannot meet the long-time fixed-point observation task.
In 1992, the U.S. naval research institute first put forward the concept that after the AUV sails into a set water area, the driving motor is turned off to save energy, and the AUV sits at the bottom of the ocean by changing buoyancy and gravity to perform long-time ocean environment detection and monitoring. For this concept, researchers at home and abroad have proposed ballast water tank type, hydraulic support type, anchor chain type and other bedding modes. In order for the AUV to safely implement bottoming actions, a special bottoming control strategy needs to be designed.
The existing bedding control strategy mainly comprises the following steps of freely sinking the bedding by water injection, controlling the bedding by water injection, and controlling water injection landing by submerged navigation in place. In the prior art, the submerged navigation in place to control the water-filled landing employs a means of controlling the water-filled ballast tanks. The mode has high cost, can not adjust the gesture after sleeping, and is unfavorable for secondary starting.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems of high cost, complex water injection control, difficult code realization, slower secondary starting and the like in the prior art, the invention provides an autonomous underwater vehicle anchoring and bedding task control method based on a Petri network.
Technical proposal
The method for controlling the anchoring and bedding tasks of the autonomous underwater vehicle based on the Petri network is characterized by comprising the following steps of:
s1: establishing an autonomous underwater vehicle anchoring bottom task discrete model based on a Petri network;
s2: after reaching the bedding area, switching to a fixed angle submergence state;
s3: after submerging to a set height, switching to a posture adjustment state;
s4: after the posture adjustment is finished, switching to a constant-height cruising state, and detecting the terrain flatness;
s5: after detecting proper topography, stopping the AUV to slow down, and releasing the anchor chain to grab the bottom;
s6: after the anchor chain touches the bottom, the AUV gesture is adjusted to finish the bottom lying task;
s7: and (3) performing fault detection all the time in the bedroom task, and if faults occur, performing corresponding operation aiming at the fault type.
The invention further adopts the technical scheme that: s1 specifically comprises the following steps: establishing an autonomous underwater vehicle decision layer anchoring bedding task model, wherein the model is described by a PERTI network as follows: u= (X, Σ, B, S) 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein the pool set x= { P 0 ,P 1 ,…P 9 The } are respectively: the method comprises the following steps of P0 initial state, P1 fixed angle submergence, P2 gesture adjustment, P3 fixed altitude cruising, P4 free sinking, P5 anchor chain adjustment, P6 bottom completion, P7 fault detection, P8 fault waiting and P9 emergency floating; transition set Σ= { T 1 ,T 2 ,...T 9 The } are respectively: t1 reaches the bedroom region, T2 depth is met, T3 gesture is met, T4 topography is detected smoothly, T5 bottoming is detected, T6 gesture is detected, T7 sailing fault, T8 dangerous fault and T9 general fault are detected; calculating B=X×ΣΣ×X as directed arc between library and transition to represent flow relation of system, S 0 ＝[000000000]The initial state of the system represents the state of the system.
The invention further adopts the technical scheme that: s2 specifically comprises the following steps: when the AUV enters the area to be in place, namely T1 reaches the bedroom area, the mode of controlling the AUV to be in depth/depth is firstly changed into the mode of executing the constant angle submergence trajectory, namely the constant angle submergence of the pool P1, the AUV is controlled to submerge at a specified angle, and the speed is reduced in the submergence process to ensure the lowest speed of the operability of the AUV.
The invention further adopts the technical scheme that: s3 specifically comprises the following steps: when the AUV is submerged to a distance less than H+delta from the sea floor, namely T2 depth is met, switching to a posture adjustment mode, namely P2 posture adjustment; wherein H is the constant-altitude cruising height, and delta is the switching advance; finally, the AUV is adjusted to be near the pitch angle of 0 degrees from the negative pitch angle, and the leveling of the aircraft is completed; this stage requires no overshoot of the longitudinal control, ensuring that bottoming of the AUV does not occur.
The invention further adopts the technical scheme that: s4 specifically comprises the following steps: when the AUV posture is adjusted to be within 0+/-2 degrees of the pitch angle, namely the T3 posture is satisfied; and switching to a constant-altitude cruising mode, namely P3 constant-altitude cruising.
The invention further adopts the technical scheme that: s5 specifically comprises the following steps: in the constant-altitude cruising process, detecting the evenness of the submarine topography at the AUV moment, judging by utilizing the current and historical multiple Doppler altimeter data, and taking the difference between the maximum value and the minimum value, and detecting evenness of the T4 topography when the evenness of the submarine topography is detected; the AUV power stops for decelerating, and is switched to free sinking, namely P4 free sinking.
The invention further adopts the technical scheme that: s6 is specifically as follows: after detecting that the AUV anchor chain bottoms out, namely T5 bottoming out detection; by combining with the information of the self-attitude sensor, the self-attitude of the AUV is adjusted by adjusting the lengths of the front anchor chain and the rear anchor chain, namely P5 anchor chain adjustment; and finally completing the bedding task, namely completing the P6 bedding.
The invention further adopts the technical scheme that: s7 specifically comprises the following steps: in the whole task process, if a navigation fault occurs, namely, a T7 navigation fault; the AUV can perform fault detection, namely P7 fault detection; classifying the detected fault risk degree into general faults and dangerous faults, namely T9 general faults and T8 dangerous faults; it is decided to perform the fault waiting or the emergency floating, i.e., the P8 fault waiting or the P9 emergency floating.
A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the methods described above.
A computer readable storage medium, characterized by storing computer executable instructions that when executed are configured to implement the method described above.
Advantageous effects
Compared with the prior art, the autonomous underwater vehicle anchoring and bedding task control method based on the Petri network has the following beneficial effects:
1. adjustable sleeping posture
In the invention, after the AUV is stabilized on the sleeping floor, the sleeping floor posture of the AUV can be adjusted by adjusting the lengths of the two sections of anchor chains, so that the expected posture is realized, and the posture adjustment after the sleeping floor cannot be realized by using a ballast water tank.
2. Is convenient for secondary start
In the invention, after the AUV is landed stably, if secondary work or target attack task is needed, the AUV can work by only separating the anchor chain system and freely floating to be stable by virtue of positive buoyancy of the AUV, without waiting for long-time water injection/drainage and missing task time.
3. Easy code conversion
In the invention, the AUV bedroom task control strategy uses a discrete system modeling method based on a Petri network, and can describe the asynchronous, synchronous and parallel logic relationship of the system. Through clear description of dynamic change of discrete events in the bedding process, the control strategy can be effectively converted into actual codes to be applied to the AUV, and then bedding tasks are realized in engineering.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.
FIG. 1 is a bottoming task flow model;
the library and transition meanings of the Petri net of fig. 2;
FIG. 3AUV bottom-lying trajectory;
figure 4 schematic of the artificial potential field in the subsea height Cheng Genzong control mode;
FIG. 5 is a graph of depth variation in the vertical plane;
FIG. 6 pitch angle change curve;
fig. 7 speed change curve.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
According to the invention, an autonomous underwater vehicle decision layer anchoring and bedding task model is established according to the underwater vehicle anchoring and bedding task requirement. The model may be described by a PERTI network as: u= (X, Σ, B, S) 0 ). Wherein the pool set x= { P 0 ,P 1 ,...P 8 The transition set Σ= { T } 1 ,T 2 ,...T 8 }. Calculating B=X×ΣΣ×X as directed arc between library and transition to represent flow relation of system, S 0 ＝[00000000000]The initial state of the system represents the state of the system.
An autonomous underwater vehicle anchoring and bottom lying task control method based on a Petri network is shown in a schematic diagram as 1, and comprises the following steps:
s1: establishing an autonomous underwater vehicle decision layer anchoring and bedding task model, wherein the model can be described by a PERTI network as follows: u= (X, Σ, B, S) 0 ). Wherein the pool set x= { P 0 ,P 1 ,...P 9 The } are respectively: p0 initial state, P1 fixed angle submergence, P2 posture adjustment, P3 fixed high cruising, P4 free sinking, P5 anchor chain adjustment, P6 bottoming completion, P7 fault detection, P8 fault waiting and P9 emergency floating. Transition set Σ= { T 1 ,T 2 ,...T 9 The } are respectively: t1 arrives at the bedroom region, T2 depth of navigation is satisfied, T3 gesture is satisfied, T4 topography detects leveling, T5 bottoming detection, T6 gesture detection, T7 navigation fault, T8 dangerous fault, T9 general fault. Calculating B=X×ΣΣ×X as directed arc between library and transition to represent flow relation of system, S 0 ＝[000000000]The initial state of the system represents the state of the system.
S2: when the AUV enters the area to be positioned (T1 reaches the bedroom area), the mode is firstly changed from a constant depth/variable depth control mode to execute constant angle submergence trajectory (constant angle submergence of the pool P1), namely the AUV is controlled to submerge at a specified angle, and speed is reduced in the submerging process to ensure the lowest speed navigation of the AUV maneuverability.
S3: when the AUV is submerged to a distance less than H+Δ from the sea floor (T2 voyage satisfied), the attitude adjustment mode (P2 attitude adjustment) is switched. Wherein H is the cruise height of the constant altitude, delta is the switching advance, and delta is selected to ensure the stability of the AUV when the AUV is submerged at a constant angle and is switched to the cruise height. Finally, the AUV is adjusted to be near the pitch angle of 0 degrees from the negative pitch angle, and the leveling of the aircraft is completed. This stage requires no overshoot of the longitudinal control, ensuring that bottoming of the AUV does not occur.
S4: when the AUV attitude is adjusted to a pitch angle within 0 DEG + -2 DEG (T3 attitude is satisfied), switching to a constant-altitude cruising mode (P3 constant-altitude cruising). The cruise altitude H should be chosen to ensure that the AUV has sufficient time and distance to deploy the anchor chain.
S5: in the constant-altitude cruising process, the AUV detects the evenness of the submarine topography at moment, the difference value between the maximum value and the minimum value is judged by utilizing the current and historical Doppler altimeter data, and when the evenness of the submarine topography (T4 topography detection evenness) is detected, the AUV power stops decelerating and is switched to free sinking (P4 free sinking). To avoid the situation of winding caused by premature release of the anchor chain, the anchor chain is released to grab the bottom when the anchor chain is close to the seabed (3 m away from the seabed), and the AUV floats upwards to tighten the anchor chain to complete the sleeping bottom.
S6: after the AUV anchor chain bottoming is detected (T5 bottoming detection), the self-attitude sensor information is combined, the self-attitude of the AUV is adjusted by adjusting the lengths of the front anchor chain and the rear anchor chain (P5 anchor chain adjustment), and finally the bottoming task is completed (P6 bottoming is completed).
S7: in the whole task process, if a sailing fault (T7 sailing fault) occurs, the AUV can perform fault detection (P7 fault detection), and the AUV can be divided into a general fault (T9 general fault) and a dangerous fault (T8 dangerous fault) according to the detected fault dangerous degree, so as to determine to perform fault waiting (P8 fault waiting) or emergency floating (P9 emergency floating).
After the sleeping is finished, if secondary work is needed, the anchor chain system is only required to be separated, so that the AUV floats up by means of positive buoyancy.
The embodiment of the invention provides an autonomous underwater vehicle anchoring and sleeping task control method based on a Petri network, which is used for establishing an autonomous underwater vehicle decision layer anchoring and sleeping task DEDS model. In order to verify the validity of the task control strategy described above, the following embodiments are also provided in the present invention.
And selecting the courage and perseverance AUV fluid appearance parameters to perform bedroom task simulation.
The initial simulation state is that the sleeping area is reached, and sleeping task parameters are loaded. At the moment, the AUV is switched to a fixed-angle submergence mode, and the AUV is controlled to perform stable submergence according to a set pitch angle parameter of-10 degrees. And meanwhile, the rotating speed of the propeller is reduced, the AUV is guaranteed to submerge at the lowest speed meeting the operability, and the control algorithm adopts self-adaptive sliding mode control.
3m above the set depth, the parameter is related to the radius of gyration of the AUV, and the parameter is larger than the radius of gyration according to experiments. At the moment, the attitude adjustment mode is switched to, and the pitch angle of the AUV is leveled. And after the attitude sensor detects that the AUV has performed stable running, switching to a constant-height cruising mode.
And tracking the submarine topography according to the depth information obtained by the AUV Doppler detection distance submarine height and the depth sensor. In the fixed altitude sailing mode, the autonomous AUV is required to maintain high sailing with the sea floor. In this mode, the constraint of the voyage depth must be considered while tracking the altitude, i.e. the pressure resistance of the hull of the aircraft determines that the voyage depth cannot exceed a certain range, and if the voyage depth is too small, the possibility of water outflow is increased, especially in case of large sea surface storms and jeopardizing the stability of voyage, where a control algorithm based on artificial potential fields is adopted, the motion planning layer calculates reference instructions, and dynamics are responsible for driving the horizontal rudder, as shown in fig. 4.
In the constant-altitude cruising process, the AUV detects the evenness of the submarine topography at moment, and when the evenness of the submarine topography is detected, the AUV power stops decelerating and is switched to freely sink. In order to avoid the condition of winding caused by prematurely releasing the anchor chain, the anchor chain is released to grab the bottom when the anchor chain is close to the sea bottom, the AUV integrally becomes positive buoyancy, and the anchor chain is gathered by floating upwards to complete the sleeping bottom.
Fig. 5, 6 and 7 show a longitudinal plane depth change curve, a pitch angle change curve and a speed change curve in the whole bedding process respectively. Under dynamic control based on sliding mode self-adaptive control, the AUV can keep corresponding pitch angle and speed to submerge; under motion planning control based on an artificial potential field, the navigation track of the UUV is basically matched with the submarine topography profile, and the performance requirement is met.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made without departing from the spirit and scope of the invention.
Claims (3)
1. The method for controlling the anchoring and bedding tasks of the autonomous underwater vehicle based on the Petri network is characterized by comprising the following steps of:
s1: establishing an autonomous underwater vehicle anchoring bottom task discrete model based on a Petri network;
establishing an autonomous underwater vehicle decision layer anchoring bedding task model, wherein the model is described by a PERTI network as follows: u= (X, Σ, B, S) 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein the pool set x= { P 0 ,P 1 ,...P 9 The } are respectively: the method comprises the following steps of P0 initial state, P1 fixed angle submergence, P2 gesture adjustment, P3 fixed altitude cruising, P4 free sinking, P5 anchor chain adjustment, P6 bottom completion, P7 fault detection, P8 fault waiting and P9 emergency floating; transition set Σ= { T 1 ,T 2 ,...T 9 The } are respectively: t1 reaches the bedroom region, T2 depth is met, T3 gesture is met, T4 topography is detected smoothly, T5 bottoming is detected, T6 gesture is detected, T7 sailing fault, T8 dangerous fault and T9 general fault are detected; calculating B=X×ΣΣ×X as directed arc between library and transition to represent flow relation of system, S 0 ＝[000000000]The initial state of the system represents the state of the system;
s2: after reaching the bedding area, switching to a fixed angle submergence state;
when the AUV enters the area to be in place, namely T1 reaches the bedroom area, the mode of controlling the depth to be fixed/deepened is firstly changed into the mode of executing fixed angle submergence trajectory, namely the constant angle submergence of the pool P1, the AUV is controlled to submerge at a specified angle, and the speed is reduced in the submergence process to ensure the lowest speed of the operability of the AUV;
s3: after submerging to a set height, switching to a posture adjustment state;
when the AUV is submerged to a distance less than H+delta from the sea floor, namely T2 depth is met, switching to a posture adjustment mode, namely P2 posture adjustment; wherein H is the constant-altitude cruising height, and delta is the switching advance; finally, the AUV is adjusted to be near the pitch angle of 0 degrees from the negative pitch angle, and the leveling of the aircraft is completed; the longitudinal control is required to be free from overshoot at the stage, so that the AUV is ensured not to bottom out;
s4: after the posture adjustment is finished, switching to a constant-height cruising state, and detecting the terrain flatness;
when the AUV posture is adjusted to be within 0+/-2 degrees of the pitch angle, namely the T3 posture is satisfied; switching to a constant-altitude cruising mode, namely P3 constant-altitude cruising;
s5: after detecting proper topography, stopping the AUV to slow down, and releasing the anchor chain to grab the bottom;
in the constant-altitude cruising process, detecting the evenness of the submarine topography at the AUV moment, judging by utilizing the current and historical multiple Doppler altimeter data, and taking the difference between the maximum value and the minimum value, and detecting evenness of the T4 topography when the evenness of the submarine topography is detected; the AUV power stops for decelerating, and is switched to freely sink, namely P4 freely sinks;
s6: after the anchor chain touches the bottom, the AUV gesture is adjusted to finish the bottom lying task;
after detecting that the AUV anchor chain bottoms out, namely T5 bottoming out detection; by combining with the information of the self-attitude sensor, the self-attitude of the AUV is adjusted by adjusting the lengths of the front anchor chain and the rear anchor chain, namely P5 anchor chain adjustment; finally completing the bedding task, namely completing the P6 bedding;
s7: the fault detection is always executed in the bedding task, and if faults occur, corresponding operation is carried out aiming at the fault type;
in the whole task process, if a navigation fault occurs, namely, a T7 navigation fault; the AUV can perform fault detection, namely P7 fault detection; classifying the detected fault risk degree into general faults and dangerous faults, namely T9 general faults and T8 dangerous faults; it is decided to perform the fault waiting or the emergency floating, i.e., the P8 fault waiting or the P9 emergency floating.
2. A computer system, comprising: one or more processors, a computer-readable storage medium storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of claim 1.
3. A computer readable storage medium, characterized by storing computer executable instructions that, when executed, are adapted to implement the method of claim 1.
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