CN116215813B - Composite buoyancy adjusting device, autonomous underwater vehicle and control method of autonomous underwater vehicle - Google Patents
Composite buoyancy adjusting device, autonomous underwater vehicle and control method of autonomous underwater vehicle Download PDFInfo
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- CN116215813B CN116215813B CN202310513000.0A CN202310513000A CN116215813B CN 116215813 B CN116215813 B CN 116215813B CN 202310513000 A CN202310513000 A CN 202310513000A CN 116215813 B CN116215813 B CN 116215813B
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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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- 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
-
- 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
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a composite buoyancy adjusting device, an autonomous underwater vehicle and a control method thereof, and relates to the technical field of underwater vehicles. The composite buoyancy regulating device comprises a sealed cabin end cover, an air sealed cabin, a fixed plate, a water sealed cabin, a water cabin pressing plate, a filter screen, a buoyancy regulating mechanism and a pitching regulating mechanism; the air sealing cabin and the water sealing cabin are respectively connected to two opposite sides of the fixed plate, the end cover of the sealing cabin is connected to one end of the air sealing cabin, which is far away from the fixed plate, the water cabin pressing plate is connected to one end of the water sealing cabin, which is far away from the fixed plate, and the filter screen is arranged on the water cabin pressing plate; the buoyancy regulating mechanism is arranged in the air sealed cabin and the water sealed cabin, and the pitching regulating mechanism is arranged in the air sealed cabin. The device is structurally independent and segmented, integrates buoyancy adjustment and gravity center adjustment functions, can realize control of pitch angle by utilizing residual space while meeting buoyancy adjustment, and can also improve space utilization rate and simplify installation steps.
Description
Technical Field
The invention relates to the technical field of underwater vehicles, in particular to a composite buoyancy adjusting device, an autonomous underwater vehicle and a control method thereof.
Background
The Autonomous Underwater Vehicle (AUV) has become a valuable marine observation tool, and is widely applied to marine engineering, marine resource exploration, marine science research, water conservancy and hydropower and military operations. However, the energy consumption caused by the high-power propeller is an important factor for limiting the working capacity and the working time of the AUV, and the duration of the AUV is usually only a few hours to a few days, so that the application of the AUV in the field of ocean observation is severely limited. In order to overcome the consumption caused by the maintenance depth of the long-range AUV, the buoyancy adjusting device is mounted on the AUV, so that the energy consumption can be well reduced.
The buoyancy adjusting device may be classified into a volume adjusting type and a weight adjusting type according to the changed physical quantity. The volume regulation is realized by changing the drainage volume of the underwater vehicle, and the main regulation modes are two types of hydraulic pump-oil bag type and piston type.
The buoyancy control method for the underwater vehicle by adopting the hydraulic pump-oil bag type comprises an American No. 1 Alvin HOV, an Japanese No. URASHIMA AUV, a deep sea oil bag type buoyancy control system developed by high-grade sun and the like. The main disadvantage of this form is that the oil bag is easily deformed under deep water pressure, which affects the regulation effect. Geometrically, large expansion or contraction is not feasible, and the use of an expansion volume such as an oil bladder may significantly increase resistance.
Piston buoyancy-regulated submersible vehicles include Guanay II AUV developed by university of Spanish, galois, domestic Argo profile detection buoy COPEX, and the like. The piston buoyancy regulating device has large variable quantity and high efficiency, but the maximum displacement is related to the variable stroke of the piston, and the buoyancy regulating device has small variable quantity and is suitable for small-sized submersible vehicles.
Weight regulation is a method for realizing buoyancy regulation by changing the own weight of an underwater vehicle. Such as Japanese "deep sea 6500" No. HOV, american No. 2 "Alvin" No. underwater vehicle, china "dragon" No. HOV, "explorer" No. AUV, etc. The gravity type adjusting mode is mainly used for environments with larger depth, has complex mechanism and large required installation space, and is not suitable for being used on small and medium AUVs.
Buoyancy adjustment can influence the posture of the AUV in water, and the pitch angle control of the AUV can be realized by adjusting the buoyancy of the front buoyancy module and the rear buoyancy module. Li Mozhu et al have employed a front-to-back arrangement of each buoyancy module to reduce the difficulty of initial trim. Yan Baoji et al developed a bi-directional variable volume buoyancy adjustment device that achieved accurate buoyancy adjustment without changing the center of gravity. However, the two buoyancy modules are arranged, and the two modules are required to be controlled in a combined mode, so that the defects of difficult control, high required precision, high cost and the like are caused.
Disclosure of Invention
The invention aims to solve the technical problems: the long Cheng Zizhu underwater vehicle (AUV) has high energy consumption in the process of cruising, floating and submerging by using a propeller, and the technical problems of complex gravity center change control and the like caused by the traditional buoyancy arrangement form.
In order to solve the above technical problems, an embodiment of the present invention may be implemented as follows:
in a first aspect, the present invention provides a composite buoyancy adjustment device, the composite buoyancy adjustment device comprising a sealed cabin end cap, an air sealed cabin, a fixed plate, a water sealed cabin, a water cabin pressure plate, a filter screen, a buoyancy adjustment mechanism and a pitch adjustment mechanism;
the air sealing cabin and the water sealing cabin are respectively connected to two opposite sides of the fixed plate, the end cover of the sealing cabin is connected to one end of the air sealing cabin, which is far away from the fixed plate, the water cabin pressing plate is connected to one end of the water sealing cabin, which is far away from the fixed plate, and the filter screen is arranged on the water cabin pressing plate;
the buoyancy regulating mechanism is arranged in the air sealed cabin and the water sealed cabin, and the pitching regulating mechanism is arranged in the air sealed cabin.
In an alternative embodiment, the composite buoyancy adjusting device further comprises a plurality of connecting rods, wherein the connecting rods are arranged around the air sealed cabin and the water sealed cabin, the middle part of each connecting rod is connected to the fixing plate, and two ends of each connecting rod are respectively connected to the end cover of the sealed cabin and the pressure plate of the water sealed cabin.
In an alternative embodiment, the buoyancy adjusting mechanism comprises a piston and a first driving mechanism, wherein the piston is arranged in the water sealing cabin and is in sealed sliding connection with the inner wall of the water sealing cabin, the first driving mechanism is arranged in the air sealing cabin and the water sealing cabin, and the first driving mechanism is connected to the piston and is used for driving the piston to slide along the length direction of the water sealing cabin.
In an alternative embodiment, first actuating mechanism includes first lead screw, first motor, drive mechanism, guide arm, mounting panel and reinforcing plate, wherein, first lead screw sets up along the length direction of water seal cabin, the one end of first lead screw is connected to on the piston, but first lead screw runs through fixed plate and mounting panel, and fixed plate and mounting panel slip relatively, the guide arm is located the airtight cabin, and connect perpendicularly on the fixed plate, the mounting panel is connected perpendicularly on the guide arm, first motor and drive mechanism all install on the mounting panel, first motor, drive mechanism and first lead screw are in proper order transmitted connection, make the steerable piston of first motor slide along the length direction of water seal cabin.
In an alternative embodiment, the pitch adjustment mechanism comprises a weight and a second drive mechanism disposed within the airtight compartment, the second drive mechanism being connected to the weight and configured to drive the weight to slide along the length of the airtight compartment.
In an alternative embodiment, the second driving mechanism comprises a nut, a second screw rod and a second motor, wherein the nut is installed on the balancing weight, the second screw rod is arranged along the length direction of the air seal cabin, one end of the second screw rod penetrates through the balancing weight and is meshed with the nut, the other end of the second screw rod is driven to rotate by the second motor, and the second motor is installed on the installation plate.
In an alternative embodiment, the balancing weight is further provided with a yielding gap, and the shape of the yielding gap is consistent with that of the reinforcing plate, so that the reinforcing plate can pass through the yielding gap.
In an alternative embodiment, the composite buoyancy adjusting device further comprises a guide ring, an O-shaped ring, a star-shaped ring and a sealing ring, wherein the two guide rings are sleeved on the outer circumferential surface of the piston at intervals and are in sliding connection with the inner wall of the water sealing cabin, the O-shaped ring is sleeved on the outer circumferential surface of the piston and is positioned between the two guide rings, the sealing ring is sleeved on the O-shaped ring, and the star-shaped ring is sleeved on the sealing ring and is in sliding connection with the inner wall of the water sealing cabin.
In a second aspect, the present invention provides an autonomous underwater vehicle comprising the compound buoyancy regulating device of the foregoing embodiments.
In a third aspect, the present invention provides a control method of an autonomous underwater vehicle, the control method being applied to the autonomous underwater vehicle of the foregoing embodiment, the control method including:
using a target depth Z d As input, the current target depth v is extracted using a tracking differentiator 1 With the current target speed v 2 And at the current depth Z and the current AUV submergence speed Z 1 Making a difference to obtain a depth error e 1 Error of speed e 2 Will e 1 、e 2 As input to a linear state error feedback controller;
will adjust the factor mu 0 E being the output of LESF and being the output of NLESO 2 Difference is made and the gain is 1/b through the system 0 Obtaining the input acceleration factor mu of VBS i And obtain buoyancy B by conversion r Buoyancy B r Acting on the AUV dynamics model and obtaining the current depth Z through a sensor.
The composite buoyancy adjusting device, the autonomous underwater vehicle and the control method thereof provided by the embodiment of the invention have the beneficial effects that:
the device is structurally independent and segmented, integrates buoyancy adjustment and gravity center adjustment functions, can realize control of pitch angle by utilizing residual space while meeting buoyancy adjustment, has accurate buoyancy adjustment capability and capability of keeping the mechanism balanced in water, and can improve space utilization rate and simplify installation steps compared with the traditional device.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a layout of a composite buoyancy adjusting device and a driving AUV according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the external structure of a composite buoyancy adjusting device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an internal structure of a composite buoyancy adjusting device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the mating structure of the piston and the water-tight chamber;
FIG. 5 is a schematic view of the composite buoyancy adjusting device according to the present embodiment under water;
FIG. 6 is a graph of pitch angle versus distance traveled by a counterweight;
FIG. 7 is a plot of theoretical buoyancy versus actual buoyancy;
fig. 8 is a flow chart of a control method of an autonomous underwater vehicle.
Icon: 1-a cabin body; 2-buoyancy adjustment module; 3-a pitch adjustment module; 4-a composite buoyancy adjusting device; 5-sealing the cabin end cover; 6-air sealing the cabin; 7-connecting rods; 8-fixing plates; 9-water sealing the cabin; 10-a water tank pressing plate; 11-a filter screen; 12-a piston; 13-a first screw rod; 14-a first motor; 15-a transmission mechanism; 16-a guide rod; 17-a mounting plate; 18-reinforcing plates; 19-balancing weight; 20-yielding gaps; 21-a nut; 22-a second screw rod; 23-a second motor; 24-check ring; 25-O-rings; 26-star-shaped rings; 27-a sealing ring; 28-guide ring.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In order to improve the course self-adaptive capacity of the long-range AUV and reduce the power consumption, and assist the AUV to complete the functions of fixed-depth suspension and navigation posture adjustment, the buoyancy adjustment module is carried, so that the method has important significance. In a conventional AUV, two layout forms of the buoyancy adjusting module 2 in the cabin body 1 are shown as a scheme a and a scheme b in fig. 1, wherein the scheme a is provided with one buoyancy adjusting module 2 at the front and back, and the posture of the AUV can be adjusted in the buoyancy adjusting process. Scheme a because of needing two independent modules, causes mounting structure's complexity and high cost, simultaneously for accurate regulation gesture needs two module synergism, has higher regulation precision and good dynamic response.
Scheme b places the buoyancy adjustment module 2 on the center of gravity, thereby reducing the impact of buoyancy adjustment on the attitude of the AUV. In the practical installation, the center of gravity is not in the middle and the whole structure is complex.
In view of the advantages and disadvantages of the two arrangements, referring to scheme c in fig. 1, the buoyancy adjusting module 2 and the pitch adjusting module 3 are arranged in parallel in the cabin 1 in this embodiment.
Referring to fig. 2, for a small shallow water AUV with a working depth of less than 100m, considering an actual working environment and a use requirement, by using a variable-volume working mechanism, a piston movement mode is used for reference, a double O-ring is used for sealing, and a layout form of a scheme c in fig. 1 is adopted, and the embodiment provides an autonomous underwater vehicle, which comprises a composite buoyancy adjusting device 4. The device is structurally a single module, integrates a buoyancy regulating system and a pitch angle control system, provides a uniform communication interface and is convenient to integrate on an AUV. Meanwhile, the performance of the device on the AUV is verified through theoretical calculation.
The composite buoyancy regulating device 4 comprises a sealed cabin end cover 5, an airtight cabin 6, a connecting rod 7, a fixing plate 8, a water sealing cabin 9, a water cabin pressing plate 10 and a filter screen 11.
The air sealed cabin 6 and the water sealed cabin 9 are respectively connected to two opposite sides of the fixed plate 8, the sealed cabin end cover 5 is connected to one end, far away from the fixed plate 8, of the air sealed cabin 6, the water cabin pressing plate 10 is connected to one end, far away from the fixed plate 8, of the water sealed cabin 9, the filter screen 11 is installed on the water cabin pressing plate 10, and the size of slurry in water is about 1mm, and the aperture of the filter screen 11 is designed to be smaller than 1mm and can be 0.5mm. The plurality of connecting rods 7 are arranged around the cabin body 1, the middle part of each connecting rod 7 is connected to the fixing plate 8, and two ends of each connecting rod 7 are respectively connected to the sealed cabin end cover 5 and the water cabin pressing plate 10, so that the structural strength of the device is enhanced, and the air-tight cabin 6 and the water-tight cabin 9 are protected.
Referring to fig. 3, the composite buoyancy adjusting device 4 further includes a buoyancy adjusting mechanism and a pitch adjusting mechanism. The buoyancy adjusting mechanism is installed in the air-tight compartment 6 and the water-tight compartment 9, and the pitch adjusting mechanism is installed in the air-tight compartment 6.
The buoyancy adjusting mechanism includes a piston 12 and a first driving mechanism, the piston 12 is disposed in the watertight compartment 9 and is in sealing sliding connection with the inner wall of the watertight compartment 9, the first driving mechanism is installed in the airtight compartment 6 and the watertight compartment 9, and the first driving mechanism is connected to the piston 12 and is used for driving the piston 12 to slide along the length direction of the watertight compartment 9.
The first driving mechanism comprises a first screw rod 13, a first motor 14, a transmission mechanism 15, a guide rod 16, a mounting plate 17 and a reinforcing plate 18, wherein the first screw rod 13 is arranged along the length direction of the water seal cabin 9, one end of the first screw rod 13 is connected to the piston 12, the first screw rod 13 penetrates through the fixing plate 8 and the mounting plate 17 and can slide relative to the fixing plate 8 and the mounting plate 17, the guide rod 16 is positioned in the air seal cabin 6 and is vertically connected to the fixing plate 8, the mounting plate 17 is vertically connected to the guide rod 16, the first motor 14 and the transmission mechanism 15 are both arranged on the mounting plate 17, and the first motor 14, the transmission mechanism 15 and the first screw rod 13 are sequentially in transmission connection, so that the first motor 14 can control the piston 12 to slide along the length direction of the water seal cabin 9.
Specifically, in this embodiment, the number of the guide rods 16 is two, the number of the first screw rods 13 is three, the three first screw rods 13 are uniformly spaced and connected to the piston 12, and one ends of the three first screw rods 13, which are far away from the piston 12, are all connected to the reinforcing plate 18, so as to stabilize the relative positions of the three first screw rods 13. The transmission mechanism 15 comprises a driving gear and three driven gears, the driving gear is connected to an output shaft of the motor, the three driven gears are meshed with the driving gear and are respectively sleeved on the three first screw rods 13, and each driven gear is in tooth meshing connection with the first screw rod 13, so that the driven gears can stretch and retract with the first screw rod 13 and the piston 12 in the motor driving process.
The working principle of the buoyancy adjusting mechanism is as follows: the composite buoyancy regulating device 4 is placed in water, the water can pass through the filter screen 11 and enter the water sealing cabin 9, namely, a water storage cavity is formed between the filter screen 11 and the piston 12, the position of the piston 12 in the water sealing cabin 9 is controlled through the first motor 14, and the volume of the water storage cavity can be controlled, so that the buoyancy regulation of the composite buoyancy regulating device 4 is realized.
The pitch adjusting mechanism includes a weight 19 and a second driving mechanism, the weight 19 and the second driving mechanism being provided in the airtight compartment 6, the second driving mechanism being connected to the weight 19 and being used for driving the weight 19 to slide along the length direction of the airtight compartment 6.
The second driving mechanism comprises a nut 21, a second screw rod 22, a second motor 23 and a retainer ring 24, wherein the nut 21 is arranged on the balancing weight 19, the second screw rod 22 is arranged along the length direction of the airtight cabin 6, one end of the second screw rod 22 penetrates through the balancing weight 19 and is meshed with the nut 21, the other end of the second screw rod 22 is driven to rotate by the second motor 23, and the second motor 23 is arranged on the mounting plate 17.
The two guide rods 16 also penetrate through the balancing weight 19, the movement of the balancing weight 19 is guided, the end parts of the guide rods 16 are connected with the check rings 24, and the check rings 24 are used for preventing the balancing weight 19 from falling off the guide rods 16.
It should be noted that, the balancing weight 19 is further provided with a yielding gap 20, and the shape of the yielding gap 20 is consistent with that of the reinforcing plate 18, so that the reinforcing plate 18 can pass through the yielding gap 20. In the process that the piston 12 moves towards the fixed plate 8, the end part of the first screw rod 13 and the reinforcing plate 18 can move towards the balancing weight 19, and the yielding notch 20 is formed in the balancing weight 19, so that the moving distance of the first screw rod 13 is not constrained by the balancing weight 19, namely, the buoyancy adjusting mechanism and the pitching adjusting mechanism can not interfere with each other when operating respectively, the stroke of the first screw rod 13 and the piston 12 is increased, thereby the buoyancy adjusting range of the composite buoyancy adjusting device 4 is improved, the stroke of the balancing weight 19 is also increased, the pitching angle adjusting range of the composite buoyancy adjusting device 4 is improved, and the whole size of the device is also smaller.
The reliability of the composite buoyancy adjusting device 4 is mainly dependent on its pressure resistance and sealing properties. Regarding the sealing performance, all static seals are radial seals in order to save manufacturing costs of the capsule. And in order to ensure the safety of electronic components in the sealed cabin, a double O-shaped sealing ring is adopted. The piston 12 is used for reciprocating motion, the working medium is water and air, and star-shaped combined DAQ sealing is adopted for achieving better sealing performance.
Specifically, referring to fig. 4, the composite buoyancy adjusting device 4 further includes a guide ring 28, an O-ring 25, a star-shaped ring 26 and a sealing ring 27, wherein the two guide rings 28 are sleeved on the outer circumferential surface of the piston 12 at intervals and are slidably connected with the inner wall of the water-sealed cabin 9, the O-ring 25 is sleeved on the outer circumferential surface of the piston 12 and is located between the two guide rings 28, the sealing ring 27 is sleeved on the O-ring 25, and the star-shaped ring 26 is sleeved on the sealing ring 27 and is slidably connected with the inner wall of the water-sealed cabin 9. The sealing mode has good static and dynamic sealing effects, integrates low friction and high elasticity, and has double safety.
Regarding pressure resistance, the sealed cabin end cover 5, the airtight cabin 6, the water sealed cabin 9 and the water cabin pressure plate 10 are made of 6061-T4 aluminum alloy, and finite element simulation of pressure resistance of the cabin body is carried out by using ANSYS Workbench. When the water depth is 100m, the pressure of the device is 1Mpa. The device is applied with a load of 1.3 Mpa, the maximum deformation of the device is 0.313mm, the maximum stress is 132.82Mpa, and the end cover and the sealed cabin are not yielding and well meet the design requirements.
In order to verify the control of pitch angle and the effect on heave speed of the proposed solution of the present embodiment, the buoyancy driving amount is analyzed.
In this embodiment, the buoyancy force F provided by the buoyancy force adjusting mechanism:
（1）
in the method, in the process of the invention,for sealing the inner radius of the compartment 9 with water +.>For the length of the watertight compartment 9 +.>For unavailable space length, +.>For the density of water>Acceleration of gravity, wherein->，/>，/>，/>，。
As can be seen from the formula (1), the buoyancy adjusting mechanism can provide a total buoyancy of 68N, the buoyancy of the buoyancy adjusting mechanism comprises an ascending part and a descending part, and the environment in which the composite buoyancy adjusting device 4 is used in the embodiment is 100m under water.
Simulation experiments prove that buoyancy change caused by the compression of the outer shell and the deformation of the appearance of the buoyancy material under the water of 100m is not considered. The maximum potential offered by the buoyancy adjusting mechanism when the composite buoyancy adjusting device 4 is in the zero-buoyancy state isMaximum lift force is +.>：
If the composite buoyancy adjusting device 4 floats or descends at a certain inclination angle, the force is calculated by referring to a calculation formula of the floating or descending speed of the glider, and the force is shown in fig. 5.
（2）
（3）
Wherein mu is the level of the composite buoyancy regulating device 4The force in the direction w is the force in the vertical direction of the composite buoyancy adjusting device 4, B is the buoyancy adjusting driving force,for pitch angle, < >>For resistance coefficient>Is the resistance area. In order to ensure that the buoyancy adjustment mechanism has sufficient buoyancy adjustment capacity, the buoyancy adjustment mechanism is arranged at a minimum pitch angle +.>The buoyancy is calculated. Wherein (1)>,Simulation in ANSYS Workbench to get +.>The method comprises the steps of carrying out a first treatment on the surface of the The maximum floating or submerging speed achieved by the buoyancy adjusting mechanism is +.>、/>。
If the composite buoyancy regulating device 4 is submerged or floats in a vertical motion mode, the stress balance is obtained:
（4）
in the method, in the process of the invention,is a resistanceForce coefficient->Is vertical floating speed +.>Is the cross-sectional area when floating vertically, wherein,，/>,/>carry-in calculation to get->The method comprises the steps of carrying out a first treatment on the surface of the It was demonstrated that under the regulation of this buoyancy regulating mechanism the AUV is capable of maximum speed +.>Vertically floating or submerging.
If the AUV is kept in a suspended state in water, the vertical force of the AUV and the trim force of the buoyancy regulating mechanism are mutually offset. When hovering underwater, the stress state is as shown in fig. 5, and the principle of moment balance is as follows:
（5）
（6）
where m is the weight of AUV, h is the distance between the center of gravity and the center of buoyancy, L is the distance traveled by weight 19, and G is the weight of weight 19. AUV in question，/>,/>，/>Carry in the above formula->. Proved that the maximum pitch angle achieved when the AUV is suspended is +.>。
In order to analyze the pitch angle which can be achieved by AUV through different balancing weights 19, when the gravity of the balancing weights 19 is calculated to be 40N, 50N, 60N and 70N, the relation between the moving distance L of the balancing weights 19 and the pitch angle is shown in figure 6, and the calculation provides a theoretical basis for selecting reasonable balancing weights 19 in later experiments.
In order to verify the accuracy of the above-mentioned buoyancy driving amount of the composite buoyancy adjusting device 4 provided in this embodiment, a prototype of the composite buoyancy adjusting device 4 is built in this embodiment, and the prototype is longDiameter->Weight is->Maximum displacement of about->. The experimental environment is->Is +.about.water depth in experiment>。
To verify the performance of the prototype, the following three groups of experiments were performed, and the tightness of the device, the accuracy of buoyancy regulation and control, and the horizontal control capability of the pitch adjustment mechanism were respectively verified.
Due to experimental environmental constraints, the piston 12 was reciprocated multiple times by placing the prototype bottom of the tank through a soak of up to five hours. No water seepage is found in the prototype, which proves that the prototype has good dynamic sealing performance.
To test the accuracy of the buoyancy force altered by the movement of the piston 12, a prototype was placed in water to test the buoyancy force produced by the movement of the piston 12. During the test, three balancing weights 19 are added due to the positive buoyancy of the water, and the gravity of the balancing weights 19 in the water isThe balance principle of the force is as follows:
（7）
wherein, the liquid crystal display device comprises a liquid crystal display device,gravity of prototype, ++>For measuring the tension by the load cell, < >>For buoyancy at a displacement of the piston 12 of 0,is relative to->And the buoyancy that changes after moving X.
As a result, the maximum error was only 2.8N, as shown in FIG. 7. Considering certain experimental errors, the model machine has very accurate buoyancy regulating and controlling capability. Due to the limitations of the experimental sites, only the trimming function of the pitching mechanism is tested, which can well maintain the whole device in a horizontal state. Experimental results show that the mechanism has good adjusting precision and can work as an independent module, so that the device has certain universality and applicability.
Referring to fig. 8, the present embodiment further provides a control method (hereinafter referred to as a control method) of the autonomous underwater vehicle, where the control method includes:
first using the target depth Z d As input, the current target depth v is extracted using a tracking differentiator 1 With the current target speed v 2 And at the current depth Z and the current AUV submergence speed Z 1 Making a difference to obtain a depth error e 1 Error of speed e 2 Will e 1 、e 2 As input to a linear state error feedback controller (LESF). Adjustment factor mu 0 E being the output of LESF and being output from a degradation extended state observer (NLESO) 2 Difference is made and the gain is 1/b through the system 0 Obtaining the input acceleration factor mu of VBS of the variable buoyancy device i And obtain buoyancy B by conversion r Buoyancy B r Acting on the AUV dynamics model and obtaining the current depth Z through a sensor.
The current depth Z is filtered by a tracking differentiator and is directly used as an input of a linear state error feedback control rate (LESF), Z 1 And Z 2 Obtained by taking the current depth Z as input and by degrading the distended state observer, Z 1 Is the diving speed and Z of AUV 2 Is the diving acceleration of the AUV.
The control method can be executed by an LADRC (Linear active disturbance rejection) controller, and in order to improve the performance of the LADRC controller, the designed LESF is subjected to fuzzy processing, and the fuzzy processing can realize that the depth feedback gain and the speed feedback gain change with time to adjust. In the designed blurring process:
wherein, the liquid crystal display device comprises a liquid crystal display device,and->For the initial feedback gain of the controller, +.>And->For correction factors, for adjusting the influence of the fuzzy rules on the controller, < >>And->Adjusting K for fuzzy inference part 1 And K 2 Is used for the adaptive parameters of the (a).
The LADRC controller has the advantages of strong robustness, steady state error, overshoot, steady time, response time and the like. In addition, the proposed fuzzy processing can further reduce overshoot and steady-state errors caused by the increase of the target distance, and compared with a linear active disturbance rejection control method, the fuzzy processing has better signal tracking precision and disturbance rejection capability, and the result shows that the designed depth controller (LADRC controller) can meet the depth control requirement of the underwater robot.
The composite buoyancy adjusting device 4, the autonomous underwater vehicle and the control method thereof provided by the embodiment of the invention have the beneficial effects that:
the device is structurally independent and segmented, integrates buoyancy adjustment and gravity center adjustment functions, can realize control of pitch angle by utilizing residual space while meeting buoyancy adjustment, adopts a novel buoyancy module arrangement mode, and verifies that the device can maintain a certain posture in the processes of AUV floating, suspending and submerging through theoretical calculation.
The model machine is built, the main components are subjected to strength check, the underwater sealing performance and the buoyancy adjusting accuracy are tested, and the result shows that: the mechanism has accurate buoyancy adjusting capability and capability of keeping balance of the mechanism in water, and compared with the traditional arrangement mode, the mechanism can improve space utilization rate and simplify installation steps.
The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (5)
1. The composite buoyancy regulating device is characterized by comprising a sealed cabin end cover (5), an airtight cabin (6), a fixed plate (8), a water sealing cabin (9), a water cabin pressing plate (10), a filter screen (11), a buoyancy regulating mechanism and a pitching regulating mechanism;
the air-tight cabin (6) and the water-tight cabin (9) are respectively connected to two opposite sides of the fixed plate (8), the sealed cabin end cover (5) is connected to one end, far away from the fixed plate (8), of the air-tight cabin (6), the water-cabin pressing plate (10) is connected to one end, far away from the fixed plate (8), of the water-tight cabin (9), and the filter screen (11) is mounted on the water-cabin pressing plate (10);
the buoyancy regulating mechanism is arranged in the air sealed cabin (6) and the water sealed cabin (9), the pitching regulating mechanism is arranged in the air sealed cabin (6), and the buoyancy regulating mechanism and the pitching regulating mechanism are arranged in parallel;
the buoyancy adjusting mechanism comprises a piston (12) and a first driving mechanism, the piston (12) is arranged in the water sealing cabin (9) and is in sealed sliding connection with the inner wall of the water sealing cabin (9), the first driving mechanism is arranged in the air sealing cabin (6) and the water sealing cabin (9), and the first driving mechanism is connected to the piston (12) and is used for driving the piston (12) to slide along the length direction of the water sealing cabin (9);
the first driving mechanism comprises a first screw rod (13), a first motor (14), a transmission mechanism (15), a guide rod (16), a mounting plate (17) and a reinforcing plate (18), wherein the first screw rod (13) is arranged along the length direction of the water seal cabin (9), one end of the first screw rod (13) is connected to the piston (12), the first screw rod (13) penetrates through the fixing plate (8) and the mounting plate (17) and can slide relative to the fixing plate (8) and the mounting plate (17), the guide rod (16) is positioned in the air seal cabin (6) and is vertically connected to the fixing plate (8), the mounting plate (17) is vertically connected to the guide rod (16), the first motor (14) and the transmission mechanism (15) are both arranged on the mounting plate (17), and the first motor (14), the transmission mechanism (15) and the first screw rod (13) are sequentially connected in a transmission mode, so that the first motor (14) can control the water seal cabin (12) to slide along the length direction of the piston (9);
the pitching adjusting mechanism comprises a balancing weight (19) and a second driving mechanism, wherein the balancing weight (19) and the second driving mechanism are arranged in the airtight cabin (6), and the second driving mechanism is connected to the balancing weight (19) and used for driving the balancing weight (19) to slide along the length direction of the airtight cabin (6);
the second driving mechanism comprises a nut (21), a second screw rod (22) and a second motor (23), wherein the nut (21) is installed on the balancing weight (19), the second screw rod (22) is arranged along the length direction of the airtight cabin (6), one end of the second screw rod (22) penetrates through the balancing weight (19) and is meshed with the nut (21), the other end of the second screw rod (22) is driven to rotate by the second motor (23), and the second motor (23) is installed on the mounting plate (17);
and a yielding gap (20) is further formed in the balancing weight (19), and the shape of the yielding gap (20) is consistent with that of the reinforcing plate (18), so that the reinforcing plate (18) can penetrate through the yielding gap (20).
2. The composite buoyancy regulating device according to claim 1, further comprising a plurality of connecting rods (7), wherein the connecting rods (7) are arranged around the airtight compartment (6) and the water-tight compartment (9), the middle part of each connecting rod (7) is connected to the fixing plate (8), and two ends of each connecting rod (7) are respectively connected to the sealed compartment end cover (5) and the water-tight compartment pressure plate (10).
3. The composite buoyancy regulating device according to claim 1, further comprising a guide ring (28), an O-ring (25), a star-shaped ring (26) and a sealing ring (27), wherein two guide rings (28) are sleeved on the outer circumferential surface of the piston (12) at intervals and are in sliding connection with the inner wall of the water-tight compartment (9), the O-ring (25) is sleeved on the outer circumferential surface of the piston (12) and is positioned between the two guide rings (28), the sealing ring (27) is sleeved on the O-ring (25), and the star-shaped ring (26) is sleeved on the sealing ring (27) and is in sliding connection with the inner wall of the water-tight compartment (9).
4. An autonomous underwater vehicle comprising the compound buoyancy regulating device of claim 1.
5. A control method of an autonomous underwater vehicle, characterized in that the control method is applied to the autonomous underwater vehicle of claim 4, the control method comprising:
using a target depth Z d As input, the current target depth v is extracted using a tracking differentiator 1 With the current target speed v 2 And at the current depth Z and the current AUV submergence speed Z 1 Making a difference to obtain a depth error e 1 Error of speed e 2 Will e 1 、e 2 As input to the LESF;
will adjust the factor mu 0 Is the output of LESF and is associated with a speed error e 2 Difference is made and the gain is 1/b through the system 0 Obtaining the input acceleration factor mu of VBS i And obtain buoyancy B by conversion r Buoyancy B r Acting on the AUV dynamics model and obtaining the current depth Z through a sensor.
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