CN115447737B - Deep sea submarine for realizing joint motion control - Google Patents
Deep sea submarine for realizing joint motion control Download PDFInfo
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- CN115447737B CN115447737B CN202211265963.5A CN202211265963A CN115447737B CN 115447737 B CN115447737 B CN 115447737B CN 202211265963 A CN202211265963 A CN 202211265963A CN 115447737 B CN115447737 B CN 115447737B
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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
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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
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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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
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a realize deep sea submarine that joint motion controlled relates to deep sea submarine field, the motion controller in this deep sea submarine controls the surplus buoyancy adjusting device of withstand voltage cabin bow according to the leading adjustment volume that theoretical sea water density that target depth was located corresponds, can lead to adjust and make deep sea submarine produce the buried head pitch angle and be in the negative buoyancy state, buried head pitch angle and negative buoyancy state can make deep sea submarine dive fast, the density increase volume under the negative buoyancy state can offset big degree of depth for deep sea submarine adapts to sea water density change fast, then utilize screw and tail to realize real-time adjustment to deep sea submarine can control deep sea submarine's quick dive and reach target depth, through the joint motion control of a plurality of devices, help solving deep sea submarine and have unstable, the problem of dive difficulty of submarine unmanned vehicle control that the sea submarine that causes because of sea density rapid change under the deep sea environment.
Description
Technical Field
The application relates to the field of deep sea submarines, in particular to a deep sea submarines for realizing joint motion control.
Background
The underwater unmanned aircraft is important equipment for detecting marine environment, can submerge to a required depth to execute various required marine operations, and can cover the full sea depth to reach the depth of tens of thousands of meters. However, in the deep sea environment, compared with the sea surface, the problem that the deep sea unmanned submersible vehicle is difficult to submerge due to the rapid increase of the sea water density is particularly outstanding, and the use of the unmanned submersible vehicle in the deep sea environment is restricted.
Disclosure of Invention
Aiming at the problems and the technical requirements, the applicant provides a deep sea submarine for realizing joint motion control, and the technical scheme of the deep sea submarine is as follows:
a deep sea submersible vehicle for realizing joint motion control, the deep sea submersible vehicle comprising a motion controller, a residual buoyancy adjusting device arranged at the bow of a pressure-resistant cabin of the deep sea submersible vehicle, and a propeller and a tail rudder arranged at the stern outside the pressure-resistant cabin; the motion controller is connected with and controls the buoyancy adjusting device, the propeller and the tail rudder;
the method executed by the motion controller comprises the following steps:
performing a lead adjustment operation: determining a theoretical sea water density ρ at a target depth of a deep sea submarine 1 Determining theoretical sea water density ρ 1 Corresponding advance adjustment V f And according to the advance adjustment quantity V f Controlling the residual buoyancy adjusting device to adjust the deep sea submarine to a negative buoyancy state, so that the deep sea submarine generates a buried head pitch angle to start diving;
after the control of the remaining buoyancy adjusting device is completed and the advance adjusting operation is completed, the real-time adjusting operation is performed: and controlling the propeller to work, and controlling the tail rudder by using a double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea submarine and the real-time pitch angle of the deep sea submarine until the deep sea submarine is submerged to reach the target depth, wherein the double-layer parameter separation controller takes the pitch angle control ring as an inner ring and takes the depth control ring as an outer ring to form a double-closed-loop control structure.
The residual buoyancy regulating device comprises an outer oil bag and an inner oil bag which are arranged at the bow of the pressure-resistant cabin and are connected through an oil way, wherein the outer oil bag is arranged outside the pressure-resistant cabin, and the inner oil bag is arranged in the pressure-resistant cabin;
the motion controller determines the theoretical sea water density ρ 1 Corresponding advance adjustment V f And according to the advance adjustment quantity V f The method for controlling the residual buoyancy adjusting device comprises the following steps:
determining theoretical sea water density ρ 1 Corresponding advance adjustment
And according to the advance adjustment quantity V f Controlling the outer oil bag to return oil to the inner oil bag through an oil wayWherein V is the drainage volume, ρ, of the deep sea submarine 0 Is sea water density, V y Is the amount of compression of the deep sea vehicle at the target depth.
The method for adjusting the depth of the deep sea submarine by using the horizontal rudder in the tail rudder by the motion controller through the double-layer parameter separation controller comprises the following steps:
in the depth control loop, inputting a difference value between the target depth and the real-time depth into a PID controller to generate a target pitch angle and inputting the target pitch angle into the pitch angle control loop;
in the pitch angle control ring, the difference value between the target pitch angle and the real-time pitch angle is input into a PD controller to generate a target rudder angle of a horizontal rudder;
and controlling the horizontal rudder according to the target rudder angle of the horizontal rudder.
The further technical scheme is that for a double-layer parameter separation controller:
in the depth control ring, when the pitch angle generated by the PID controller is in the pitch angle range, the pitch angle is directly used as a target pitch angle to be input into the pitch angle control ring; when the pitch angle generated by the PID controller exceeds the pitch angle range, performing amplitude limiting processing on the pitch angle according to the pitch angle range to obtain a target pitch angle input pitch angle control ring;
in the pitch angle control ring, when the candidate rudder angle generated by the PD controller is in the rudder angle range of the horizontal rudder, the candidate rudder angle is directly used as a target rudder angle; when the candidate rudder angle generated by the PD controller exceeds the rudder angle range of the horizontal rudder, performing amplitude limiting processing on the candidate rudder angle according to the rudder angle range of the horizontal rudder to obtain a target rudder angle.
The further technical scheme is that the method executed by the motion controller further comprises the following steps:
when the deep sea submarine is submerged to the target depth and sails under the target depth, continuously executing real-time adjustment operation: and controlling the propeller to continuously work, and continuously controlling the tail rudder by utilizing the double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea underwater vehicle and the real-time pitch angle of the deep sea underwater vehicle, so as to stabilize the deep sea underwater vehicle to navigate at the target depth.
The further technical scheme is that the deep sea submarine further comprises a sensor component which is arranged outside the pressure-resistant cabin and electrically connected with the motion controller, when the deep sea submarine is submerged to the target depth, the motion controller further performs fine adjustment operation, and the method comprises the following steps:
when the deep sea submarine is submerged to the target depth, collecting the sea water temperature and the sea water conductivity of the sea water around the deep sea submarine through the sensor assembly;
the measured sea water density rho at the target depth is calculated according to the sea water temperature and the sea water conductivity 1s ；
Determining measured sea water density ρ 1s Corresponding actual adjustment quantity V fs And will adjust the amount V in accordance with the advance f Control the surplus buoyancy adjusting device to correct according to the actual adjustment quantity V fs And controlling the residual buoyancy regulating device.
The deep sea submarine further comprises a gesture adjusting device arranged in the pressure cabin, and the motion controller is connected with and controls the gesture adjusting device; when the deep sea submarine is submerged to the target depth, the motion controller further performs superposition adjusting operation, including:
after the deep sea submarine is submerged to the target depth, according to the actual regulating quantity V of the residual buoyancy regulating device fs And controlling the posture adjusting device to balance and adjust the longitudinal inclination angle of the buried head generated by the residual buoyancy adjusting device.
The further technical scheme is that the gesture adjusting device comprises a sliding block arranged on a sliding mechanism, a motion controller is connected with and controls the sliding mechanism to drive the sliding block to slide, and superposition adjusting operation executed by the motion controller comprises the following steps:
the sliding mechanism is controlled to drive the sliding block to slide towards the stern of the deep sea submarine for a distance of approaching the stern
Wherein L is f Is an outer oil bag and an inner oilThe distance between the pockets, m, is the weight of the slider and ρ is the density of the oil in the oil pocket.
The further technical scheme is that the method executed by the motion controller further comprises the following steps:
performing a lead adjustment operation: the residual buoyancy regulating device is controlled to restore to an initial state when the deep sea submarine is positioned on the sea surface, so that the deep sea submarine generates a head lifting longitudinal inclination angle to start floating;
after the control of the remaining buoyancy adjusting device is completed and the advance adjusting operation is completed, the real-time adjusting operation is performed: and keeping the propeller to work and controlling the tail rudder by using the double-layer parameter separation controller until the deep sea submarine floats to the sea surface.
The further technical scheme is that when the deep sea submarine floats up to the sea surface, the motion controller also executes superposition adjusting operation, and the method comprises the following steps:
after the deep sea submarine floats to the sea surface, according to the actual regulating quantity V of the residual buoyancy regulating device fs And controlling the posture adjusting device to balance the head lifting longitudinal inclination angle generated by the residual buoyancy adjusting device.
The beneficial technical effects of this application are:
the application discloses realize combined motion control's deep sea submarine, this deep sea submarine utilizes motion control to carry out advance regulation to surplus buoyancy adjusting device so that deep sea submarine produces the first pitch angle of burial and is in negative buoyancy state, and utilize screw and tail vane to realize real-time regulation to deep sea submarine, the first pitch angle of burial and negative buoyancy state can make deep sea submarine dive fast, the density increase under the big degree of depth can be offset to the negative buoyancy state, make deep sea submarine adapt to sea water density variation fast, the control to the tail vane can accomplish the fast dive of deep sea submarine, reach the target degree of depth, be particularly useful for under the deep sea scene.
After the deep sea submarine reaches the target depth, the accurate adjustment of the residual buoyancy adjusting device is realized by utilizing the post fine adjustment process, and the buried head longitudinal inclination angle generated by the residual buoyancy adjusting device is balanced by the superposition adjustment process, so that the posture of the deep sea submarine is balanced, and the stability of the posture of the deep sea submarine is facilitated.
In addition, under the target depth, the tail vane is controlled through the real-time adjusting process, so that the depth of the deep sea aircraft can be stabilized, the deep sea aircraft can navigate at the target depth at a fixed depth, and the control stability of the deep sea aircraft can be maintained when the sea density of the deep sea aircraft changes suddenly in a deep sea environment.
The rapid floating of the deep sea submarine can be realized by performing advanced adjustment on the residual buoyancy adjusting device and real-time adjustment on the propeller and the tail rudder, and the head lifting longitudinal inclination angle generated by the residual buoyancy adjusting device is balanced by utilizing the superposition adjusting process after the deep sea submarine floats to the sea surface, so that the gesture of the deep sea submarine is balanced.
The deep sea underwater vehicle is controlled by the joint motion of a plurality of devices, so that the problems of unstable control and difficult submerging of the underwater unmanned vehicle caused by the abrupt change of the sea water density in the deep sea environment can be solved. And the under-actuated decoupling problem of controlling the pitch angle and the depth multi-degree of freedom of the single tail rudder is realized by utilizing the double-layer parameter separator in a hierarchical control mode, so that the control accuracy is higher.
Drawings
FIG. 1 is a schematic view of a deep sea vessel in one embodiment.
Figure 2 is a schematic diagram of the motion of the deep sea vehicle in one embodiment during different phases of the different processes.
FIG. 3 is a flow chart of a method performed by the motion controller to implement joint motion control for a deep sea vessel in one embodiment.
Figure 4 is a control block diagram of the control of the tail vane using a two-layer parameter separator in one embodiment.
Detailed Description
The following describes the embodiments of the present application further with reference to the accompanying drawings.
The application discloses a deep sea submarine for realizing joint motion control, please refer to the structural schematic diagram of the deep sea submarine shown in fig. 1, which comprises a motion controller 2 arranged in a pressure cabin 1 of the deep sea submarine, a residual buoyancy adjusting device 3 arranged at the bow of the pressure cabin 1, and a propeller 4 and a tail rudder 5 arranged at the stern outside the pressure cabin 1. The motion controller 2 is connected with a buoyancy adjusting device 3, a propeller 4 and a tail rudder 5. The motion controller 2 has the functions of control, calculation, data storage and the like, and can be realized based on an embedded low-power-consumption control board combined with an E2PROM, wherein the embedded low-power-consumption control board is used for realizing the functions of operation control and the like, and the E2PROM is used for realizing the data storage function.
In one embodiment, the tail rudder 5 comprises a pair of vertical rudders up and down and a pair of horizontal rudders left and right, the motion controller 2 controls the vertical rudders to adjust the heading of the deep sea submarine, and the motion controller 2 controls the horizontal rudders to adjust the depth of the deep sea submarine. The propeller 4 is used to provide forward thrust. The tail vane 5 and the propeller 4 form a motion stabilizer, and the depth and the course of the deep sea submarine can be stably controlled in the high-speed motion process by utilizing the rapid adjustment function of the tail vane 5 and the forward thrust provided by the propeller.
The surplus buoyancy adjusting device 3 can adjust the buoyancy of the deep sea submarine. In one embodiment, the residual buoyancy adjusting device 3 comprises an outer oil bag 31 and an inner oil bag 32 which are arranged at the bow of the pressure-resistant cabin 1 and are connected through an oil path, wherein the outer oil bag 31 is arranged outside the pressure-resistant cabin 1, and the inner oil bag 32 is arranged in the pressure-resistant cabin 1. The volume of the outer oil bag 31 can be reduced by controlling the oil return of the outer oil bag 31 to the inner oil bag 32 so as to reduce the buoyancy, and the volume of the outer oil bag 31 can be increased by controlling the oil outlet of the inner oil bag 32 to the outer oil bag 31 so as to increase the buoyancy, so that the buoyancy adjustment is realized.
In one embodiment, the deep sea submarine further comprises a posture adjustment device 6 arranged in the pressure cabin 1, and the motion controller 2 is connected to and controls the posture adjustment device 6. The attitude adjusting device 6 can be used for adjusting the gravity center of the deep sea submarine to adjust the attitude of the deep sea submarine, and the residual buoyancy adjusting device 3 and the attitude adjusting device 6 form a static balancer for balancing a static part of the deep sea submarine, which is caused by the change of the density of the deep sea, so that the buoyancy of the deep sea submarine is increased. The attitude adjusting arrangement 6 may be arranged at any suitable position within the pressure compartment 1, which is only schematically arranged in the bow in fig. 1. In one embodiment, the posture adjusting device 6 comprises a sliding block arranged on the sliding mechanism, and the motion controller 2 is connected with and controls the sliding mechanism to drive the sliding block to slide, so that the gravity center can be adjusted.
In one embodiment, the deep sea submersible vehicle further comprises a sensor assembly 7 arranged outside the pressure-resistant cabin 1 and electrically connected with the motion controller 2, wherein the sensor assembly 7 can be realized by adopting a marine CTD multi-parameter sensor, and the sensor assembly 7 is used for sensing parameters such as sea water temperature, sea water conductivity, sea water depth and the like of sea water around the deep sea submersible vehicle.
In addition, the pressure-resistant cabin 1 also comprises an optical fiber measuring device 8 fixedly connected with the pressure-resistant cabin 1, and the optical fiber measuring device 8 is electrically connected with the motion controller 2. The optical fiber measuring device 8 is used for sensing parameters such as attitude information, heading information and the like of the deep sea submarine. The optical fiber measuring device 8 and the sensor assembly 7 form a sensing structure for sensing the motion parameters and the environmental parameters of the deep sea submarine.
Based on the schematic structural diagram shown in fig. 1, the method executed by the motion controller for performing joint motion control on the deep sea submarine mainly aims at the process that the deep sea submarine is submerged from the sea surface to the target depth and then floats back to the sea surface, and referring to the schematic structural diagram shown in fig. 2 and the step flow chart shown in fig. 3, the method executed by the motion controller 2 comprises the following steps:
1. stage of submerging from sea surface to target depth
1. Control information is determined.
The control information is mainly used for indicating the target depth and the target heading of the deep sea submarine, and also indicating the stable sailing time T of the deep sea submarine at the target depth and parameters such as sailing speed and the like. The control information may be received by the deep sea vessel from a shore station while on the sea surface.
2. And (5) a lead adjustment process.
After the control information is determined, the deep sea submarine can be controlled to submerge. The motion controller 2 stores a depth density curve, wherein the depth density curve indicates the sea water density at different depths in sea water, and the depth density curve is fitted in advance through historical data or theoretical calculation and the like. The motion controller 2 is based on a stored depth density profile, i.eThe theoretical sea water density ρ at the target depth can be determined 1 。
Then determining the theoretical sea water density ρ 1 Corresponding advance adjustment V f And according to the advance adjustment quantity V f The remaining buoyancy adjusting device 3 is controlled to adjust the deep sea submarine to a negative buoyancy state, thereby counteracting the density increase at large depths. The deep sea submarine is enabled to generate a buried head longitudinal dip angle to start to submerge, and the deep sea submarine submerging can be accelerated by utilizing the negative buoyancy state and the generated buried head longitudinal dip angle.
Based on the structure of the surplus buoyancy adjusting device 3 provided in the above embodiment, the lead adjustment amount V determined in the lead adjustment process f Namely the oil return quantity of the outer oil bag 31 to the inner oil bag 32 according to the advanced regulating quantity V f The surplus buoyancy adjusting device 3 is controlled according to the advanced adjusting quantity V f The outer oil bag 31 is controlled to return oil to the inner oil bag 32 via an oil passage. The theoretical sea water density ρ is determined 1 Corresponding advance adjustment
Wherein V is the drainage volume of the deep sea submarine, ρ 0 Is sea water density, V y Is the amount of compression of the deep sea vehicle at the target depth.
3. And (5) adjusting the process in real time.
After the advanced adjusting process is finished, the real-time adjusting process is started, the propeller 4 is controlled to work, and the tail vane 5 is controlled in real time to quickly and continuously approach the target depth.
In the real-time adjustment process, the course of the deep sea submarine is controlled by the vertical rudder in the tail rudder 5 to move towards the target course, and the depth of the deep sea submarine is controlled by the horizontal rudder in the tail rudder 5. For the under-actuated control scene that the single tail rudder simultaneously controls the depth and the pitch angle of the deep sea submarine, the control is realized by using a double-layer parameter separation controller: the motion controller 2 utilizes the double-layer parameter separation controller to control the horizontal rudder of the tail rudder according to the target depth, the real-time depth of the deep sea submarine and the real-time pitch angle of the deep sea submarine until the deep sea submarine is submerged to reach the target depth.
The double-layer parameter separation controller takes a longitudinal inclination angle control ring as an inner ring and a depth control ring as an outer ring to form a double-closed-loop control structure. Please refer to fig. 4. In the depth control loop, the target depth H T Difference H from the real-time depth H (K) at time K e (K)＝H T -H (K) input PID controller generating a target pitch Z at time K T (K) And inputs the pitch angle control ring. In the pitch control ring, the target pitch Z at time K T (K) Difference Z from the real-time pitch Z (K) at time K e (K)＝Z T (K) -Z (K) input PD controller generating target rudder angle D at K time of horizontal rudder T (K) A. The invention relates to a method for producing a fibre-reinforced plastic composite Target rudder angle D according to time K of horizontal rudder T (K) And controlling the horizontal rudder to move, and executing the operation at the next moment until reaching the target depth, wherein K is a parameter.
Since the rudder angle control range of the tail rudder 5 is limited, as shown in fig. 4, the clipping process is performed in both the depth control loop and the pitch control loop:
in the depth control loop, the pitch angle Z (K) at time K generated by the PID controller is within the pitch angle range [ Z min ,Z max ]In this case, the pitch angle Z (K) at time K is directly used as the target pitch angle Z at time K T (K) Inputting the pitch angle control ring. When the pitch angle Z (K) at time K generated by the PID controller exceeds the pitch angle range Z min ,Z max ]In accordance with pitch angle range [ Z ] min ,Z max ]The pitch angle Z (K) at time K is subjected to clipping processing to obtain a target pitch angle Z T (K) Inputting pitch control rings, i.e.
Similarly, in the pitch angle control loop, the candidate rudder angle D (K) at time K generated by the PD controller is within the rudder angle range [ D ] of the horizontal rudder min ,D max ]In this case, the candidate rudder angle D (K) at the time K is directly used as the target rudder angle D at the time K T (K) A. The invention relates to a method for producing a fibre-reinforced plastic composite When the candidate rudder angle D (K) at the moment K generated by the PD controller exceeds the rudder angle range [ D ] of the horizontal rudder min ,D max ]In time, according to rudder angle range of horizontal rudder [ D min ,D max ]Performing amplitude limiting processing on the candidate rudder angle D (K) at the moment K to obtain a target rudder angle D at the moment K T (K) That is to say
2. Stabilizing sailing phases at target depths
1. A continuous real-time adjustment process.
When the deep sea submarine is submerged to the target depth, the real-time adjustment process is still continuously performed, that is, the motion controller 2 controls the propeller 4 to continuously work, and the tail rudder 5 is continuously controlled by the double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea submarine and the real-time pitch angle of the deep sea submarine, so that the deep sea submarine is stabilized to navigate at the target depth.
2. Post fine tuning of the process.
In addition, after the deep sea submarine is submerged to the target depth, the motion controller 2 also performs post fine adjustment to compensate for the adjustment inaccuracy of the residual buoyancy adjusting device 3 in the advanced adjustment process. Since the theoretical sea water density ρ at the target depth is determined using a pre-fitted depth density curve during the lead adjustment 1 The theoretical sea water density ρ is obtained 1 May not be accurate, thereby resulting in inaccurate adjustment of the remaining buoyancy adjustment device 3.
The remaining buoyancy adjustment device 3 is thus accurately readjusted at the submergence reaching the target depth, in which process the motion controller 2 acquires the sea temperature and sea conductivity of the sea water surrounding the deep sea vessel via the sensor assembly 7, and calculates the measured sea water density ρ at the target depth from the sea water temperature and sea water conductivity 1s . In the calculation process, the calculation can be performed according to a formula in the report of sea water basic characteristic calculation method of the science and technology of the ocean of the united nations textbook organization, and the embodiment is not repeated.
Obtaining the actual measured sea water density rho at the target depth 1s Then, the measured sea water density rho is determined 1s Corresponding actual adjustment quantity V fs And will adjust the amount V in accordance with the advance f Control the surplus buoyancy adjusting device to correct according to the actual adjustment quantity V fs The residual buoyancy adjusting device is controlled, so that the deep sea submarine can navigate more stably.
Based on the structure of the residual buoyancy adjusting device 3 provided in the above embodiment, the actual adjustment amount V determined in the post fine adjustment process is, similarly to the advanced adjustment process fs That is, the return oil quantity of the outer oil bag 31 to the inner oil bag 32, the determined actual sea water density ρ 1s Corresponding actual adjustment
Will be adjusted by the advance adjustment V f Control the surplus buoyancy adjusting device to correct according to the actual adjustment quantity V fs Controlling the remaining buoyancy adjustment device comprises: (1) If the actual adjustment quantity V fs >V f The supplementary return oil V of the outer oil bag 31 to the inner oil bag 32 is controlled fn ＝V fs -V f . (2) If the actual adjustment quantity V fs ＝V f The remaining buoyancy adjusting device 3 is controlled to maintain the current state unchanged. (3) If the actual adjustment quantity V fs <V f The inner oil bag 32 is controlled to supplement the outer oil bag 31 with the oil V fm ＝V f -V fs 。
In addition, the measured sea water density ρ at the target depth is utilized 1s The depth density curve may also be modified.
3. And (5) superposing and adjusting the process.
As described above, under the action of the surplus buoyancy adjusting device 3, the deep sea submersible vehicle will generate a buried head pitch angle, which is beneficial to the rapid submergence of the deep sea submersible vehicle during the submergence of the deep sea submersible vehicle. However, when the deep sea submarine is submerged to the target depth, the buried head pitch angle influences the navigation stability of the deep sea submarine, so that when the deep sea submarine is submerged to the target depth, the buried head pitch angle needs to be balanced through a superposition adjustment process to ensure that the navigation is stable.
So that the motion controller 2 adjusts the actual amount V of the remaining buoyancy adjusting device according to the actual amount V after the deep sea submarine is submerged to the target depth fs The control attitude adjusting device 6 adjusts the pitch angle of the buried head generated by the residual buoyancy adjusting device 3 in a balanced manner. Based on the structure of the residual buoyancy adjusting device 3 provided in the above embodiment, the actual adjustment amount V of the residual buoyancy adjusting device fs The oil return amount from the outer oil bag 31 to the inner oil bag 32 of the deep sea submarine under the target depth is the oil return amount.
The superposition adjustment is typically performed after a post-fine adjustment, as illustrated in fig. 2, the actual adjustment V of the residual buoyancy adjustment device if the post-fine adjustment is not performed or the post-fine adjustment maintains the current state of the residual buoyancy adjustment device 3 unchanged fs Is the advance adjustment amount V determined in the advance adjustment process f . If a post fine adjustment process has been performed and the state of the residual buoyancy adjusting device 3 is corrected, the actual adjustment amount V of the residual buoyancy adjusting device fs After the fact, the fine tuning process is determined.
Based on the structure of the posture adjustment device 6 provided by the above embodiment, the control of the posture adjustment device 6 by the motion controller includes: the sliding mechanism is controlled to drive the sliding block to slide relative to the equilibrium state towards the direction close to the stern of the deep sea submarine for a distance of
Wherein L is f Is the distance between the outer and inner oil pockets, m is the weight of the slider and ρ is the density of the oil in the oil pockets. V (V) fs Is in units of L.
The stable sailing stage at the target depth is generally performed once after the deep sea submarine has submerged to the target depth, by performing post fine tuning and superposition tuning. And continuously executing the real-time adjustment process in the stable navigation stage at the whole target depth until reaching the stable navigation time T.
3. Stage of floating up from target depth to sea surface
1. Advanced adjustment procedure
When the deep sea submarine is at the target depthAfter the sailing reaches the stable sailing time T, the deep sea submarine begins to float upwards. The motion controller 2 controls the residual buoyancy regulating device 3 to restore to the initial state when the deep sea submarine is positioned on the sea surface, so that the deep sea submarine generates a lifting head pitch angle to start to float upwards. Based on the structure of the residual buoyancy adjusting device 3 provided in the above embodiment, that is, the inner oil bag 32 is controlled to discharge oil to the outer oil bag 31, the oil discharge amount is the total oil return amount of the outer oil bag 31 to the inner oil bag 32, that is, the actual adjusting amount V of the residual buoyancy adjusting device fs The actual adjustment quantity V here fs The meaning of (2) is similar to the superposition regulation process of the stable sailing stage.
2. Real-time adjustment process
Similar to the submerging stage, after the advanced adjustment process is completed, the real-time adjustment process is started, the propeller 4 is kept working, and the tail vane 5 is controlled in real time to quickly float up to approach the sea surface. The process is also beneficial to controlling the tail rudder by using the double-layer parameter separation controller until the deep sea submarine floats to the sea surface, and only inputting the target depth of the depth control ring instead of the sea surface depth 0, so that the tail rudder is controlled by using the double-layer parameter separation controller according to the sea surface depth, the real-time depth of the deep sea submarine and the real-time pitch angle of the deep sea submarine until the deep sea submarine floats to the sea surface. The implementation process is similar to the submergence stage, and this embodiment will not be described again.
3. Superposition adjustment process
Likewise, the deep sea vehicle can quickly float up due to the initial lifting pitch angle generated by the residual buoyancy adjusting device 3, but the navigation stability of the deep sea vehicle can be affected when the deep sea vehicle reaches the sea surface. Thus, when the deep sea submarine floats to the sea surface, the motion controller 2 adjusts the actual amount V of the residual buoyancy adjusting device 3 fs And controlling the posture adjusting device to balance the head lifting longitudinal inclination angle generated by the residual buoyancy adjusting device. In this process, the motion controller 2 controls the sliding mechanism to slide the slider in a direction approaching the bow of the deep sea submersible with respect to the equilibrium state by a distance similar to the superposition adjustment process in the stable sailing stage
After final stabilization, the propeller 4 is closed, thereby the deep sea submersible completes the whole motion process of submerging, operating and floating.
What has been described above is only a preferred embodiment of the present application, which is not limited to the above examples. It is to be understood that other modifications and variations which may be directly derived or contemplated by those skilled in the art without departing from the spirit and concepts of the present application are to be considered as being included within the scope of the present application.
Claims (9)
1. A deep sea submersible vehicle implementing joint motion control, characterized in that the deep sea submersible vehicle comprises a motion controller, a residual buoyancy adjustment device arranged at the bow of a pressure-resistant cabin of the deep sea submersible vehicle, and a propeller and a tail rudder arranged at the stern outside the pressure-resistant cabin; the motion controller is connected with and controls the buoyancy adjusting device, the propeller and the tail rudder; the residual buoyancy regulating device comprises an outer oil bag and an inner oil bag which are arranged at the bow of the pressure-resistant cabin and are connected through an oil way, the outer oil bag is arranged outside the pressure-resistant cabin, and the inner oil bag is arranged in the pressure-resistant cabin;
the method executed by the motion controller comprises the following steps:
performing a lead adjustment operation: determining a theoretical sea water density ρ at a target depth of the deep sea vessel 1 Determining the theoretical sea water density ρ 1 Corresponding advance adjustment V f And according to the advance adjustment quantity V f Controlling the residual buoyancy adjusting device to adjust the deep sea submarine to a negative buoyancy state, so that the deep sea submarine generates a buried head pitch angle to start diving; determining the theoretical sea water density ρ 1 Corresponding advance adjustment
And according to the advance adjustment quantity V f Controlling the outer oil bag to return oil to the inner oil bag through an oil way, wherein V is the drainage volume of the deep sea submarine, and ρ is the drainage volume of the deep sea submarine 0 Is sea water density, V y Is the amount of compression of the deep sea vessel at the target depth;
after the control of the residual buoyancy adjusting device is completed and the advance adjusting operation is completed, executing the real-time adjusting operation: and controlling the propeller to work, and controlling the tail vane by using a double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea submarine and the real-time pitch angle of the deep sea submarine until the deep sea submarine is submerged to reach the target depth, wherein the double-layer parameter separation controller takes a pitch angle control ring as an inner ring and a depth control ring as an outer ring to form a double-closed-loop control structure.
2. The deep sea vessel of claim 1, wherein the tail rudder comprises a pair of vertical rudders up and down and a pair of horizontal rudders left and right, the motion controller controlling the vertical rudders to adjust the heading of the deep sea vessel, the motion controller controlling the horizontal rudders in the tail rudder to adjust the depth of the deep sea vessel with a double-layer parameter separation controller comprising:
in the depth control loop, inputting a difference value between the target depth and the real-time depth into a PID controller to generate a target pitch angle and inputting the target pitch angle into the pitch angle control loop;
in the pitch angle control ring, inputting a difference value between the target pitch angle and the real-time pitch angle into a PD controller to generate a target rudder angle of the horizontal rudder;
and controlling the horizontal rudder according to the target rudder angle of the horizontal rudder.
3. The deep sea vessel of claim 2, wherein for the two-layer parameter separation controller:
in the depth control ring, when the pitch angle generated by the PID controller is in the pitch angle range, the pitch angle is directly used as the target pitch angle to be input into the pitch angle control ring; when the pitch angle generated by the PID controller exceeds the pitch angle range, performing amplitude limiting processing on the pitch angle according to the pitch angle range to obtain a target pitch angle, and inputting the target pitch angle into the pitch angle control ring;
in the pitch angle control ring, when the candidate rudder angle generated by the PD controller is in the rudder angle range of the horizontal rudder, the candidate rudder angle is directly used as the target rudder angle; and when the candidate rudder angle generated by the PD controller exceeds the rudder angle range of the horizontal rudder, performing amplitude limiting processing on the candidate rudder angle according to the rudder angle range of the horizontal rudder to obtain the target rudder angle.
4. The deep sea vessel of claim 1, wherein the method performed by the motion controller further comprises:
continuously executing real-time adjustment operation when the deep sea submarine is submerged to the target depth and sails under the target depth: and keeping the propeller to continuously work, and continuously controlling the tail rudder by using a double-layer parameter separation controller according to the target depth, the real-time depth of the deep sea submarine and the real-time pitch angle of the deep sea submarine, so as to stabilize the deep sea submarine to navigate at the target depth.
5. The deep sea vehicle of claim 1, further comprising a sensor assembly disposed outside the pressure pod and electrically connected to the motion controller, the motion controller further performing fine tuning operations after the deep sea vehicle is submerged to the target depth, comprising:
when the deep sea submarine is submerged to the target depth, acquiring the sea temperature and the sea conductivity of the sea around the deep sea submarine through the sensor assembly;
calculating the measured sea water density rho at the target depth according to the sea water temperature and the sea water conductivity 1s ；
Determining the measured sea water density ρ 1s Corresponding actual adjustment quantity V fs And will adjust the amount V in accordance with the advance f Controlling the saidThe residual buoyancy adjusting device is modified according to the actual adjusting quantity V fs And controlling the residual buoyancy regulating device.
6. The deep sea vehicle of claim 1, further comprising a attitude adjustment device disposed within the pressure resistant cabin, the motion controller being coupled to and controlling the attitude adjustment device; when the deep sea submarine is submerged to the target depth, the motion controller further performs a superposition adjustment operation, including:
according to the actual adjustment quantity V of the residual buoyancy adjustment device fs And controlling the posture adjusting device to balance and adjust the buried head pitch angle generated by the residual buoyancy adjusting device.
7. The deep sea submarine according to claim 6, wherein the posture adjusting device comprises a sliding block arranged on a sliding mechanism, the motion controller is connected with and controls the sliding mechanism to drive the sliding block to slide, and the superposition adjusting operation performed by the motion controller comprises:
the sliding mechanism is controlled to drive the sliding block to slide relative to the equilibrium state towards the direction close to the stern of the deep sea submarine for a distance of
Wherein L is f Is the distance between the outer oil pocket and the inner oil pocket, m is the weight of the slider, ρ is the density of the oil in the oil pocket.
8. The deep sea vessel of claim 6, wherein the method performed by the motion controller further comprises:
performing a lead adjustment operation: controlling the residual buoyancy regulating device to restore to an initial state when the deep sea submarine is positioned on the sea surface, so that the deep sea submarine generates a head lifting pitch angle to start floating;
after the control of the residual buoyancy adjusting device is completed and the advance adjusting operation is completed, executing the real-time adjusting operation: and keeping the propeller to work and controlling the tail rudder by using a double-layer parameter separation controller until the deep sea submarine floats to the sea surface.
9. The deep sea vessel of claim 8, wherein the motion controller further performs a stack adjustment operation after the deep sea vessel floats up to the surface of the sea, comprising:
according to the actual adjustment quantity V of the residual buoyancy adjustment device fs And controlling the posture adjusting device to balance the head lifting pitch angle generated by the residual buoyancy adjusting device.
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