CN117032284A - Method and system for correcting hydrodynamic force of navigation body in layered ocean - Google Patents
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Abstract
The invention relates to a method and a system for correcting hydrodynamic force of a navigation body in layered ocean, belonging to the field of correction of hydrodynamic force of navigation bodies; arranging a control executing mechanism in an aviation body, and establishing a coordinate system; establishing a kinematic equation and a kinetic equation of the navigation body; obtaining the stress of a navigation body; according to hydrodynamic force received by the navigation body and the expected hydrodynamic force value, calculating a control moment of the control executing mechanism by the hydrodynamic force controller; converting the control moment of the control executing mechanism into the expected rotating speed of each frame gyro of the control executing mechanism through a CMG control law; and the actual rotation speed of each frame gyro is adjusted to be the expected rotation speed through a servo controller, so that the expected repairing moment and force are obtained. The frame control moment gyro group CMGs can provide continuous and stable output moment, so that the attitude of a navigation body can be accurately controlled.
Description
Technical Field
The invention belongs to the field of correction of navigation body hydrodynamic force, and particularly relates to a method and a system for correcting navigation body hydrodynamic force in layered ocean.
Background
Due to solar heat radiation and ocean salt heat circulation, the ocean is generally stratified, with obvious changes in density, temperature and salinity along the vertical direction. When the navigation body moves in the density layered fluid, fluid particles can be subjected to buoyancy action under the volume effect, hydrodynamic phenomenon different from a uniform environment is generated, and existence of internal waves generated in a flow field can be obviously observed. When the navigation body sails in the layered ocean, the motion response and hydrodynamic force of the navigation body can change greatly compared with those of the ocean with uniform density, the hydrodynamic force change can directly lead to the change of the gesture of the navigation body, and serious instability, control runaway and the like of the navigation body can be caused. In order to effectively avoid the occurrence of the phenomenon, the hydrodynamic repair of the navigation body is necessary.
Disclosure of Invention
The technical problems to be solved are as follows:
in order to avoid the defects of the prior art, the invention provides a correction method of the hydrodynamic force of a layered marine navigation body, which adopts a built-in executing mechanism with additional moment, namely a frame control moment gyro group (Control Moment Gyro System, CMGs), and the core idea is to change the hydrodynamic force of an underwater navigation body by using gyro moment generated by gyro effect. An underwater vehicle using CMGs as a control actuator, the control loop of which is shown in fig. 1: the single frame gyro (Control Moment Gyro, CMG) is composed of a frame and a gyro rotor which is supported on the frame and can rotate, and a plurality of frame gyroscopes are combined together according to a certain configuration to form the CMGs. Because the moment provided by the CMGs is generated by the gyroscopic effect of the own gyroscopic rotor, no interaction with the flow field is required, and the CMGs can be built into the vehicle. The method solves the problem that the influence of the layered sea on the hydrodynamic force of the aircraft cannot be corrected in the prior art.
The technical scheme of the invention is as follows: a method for correcting hydrodynamic force of a navigation body in stratified ocean comprises the following specific steps:
arranging a control executing mechanism in the navigation body, and establishing a coordinate system;
establishing a kinematic equation and a kinetic equation of the navigation body;
obtaining the stress of a navigation body;
according to hydrodynamic force received by the navigation body and the expected hydrodynamic force value, calculating a control moment of the control executing mechanism by the hydrodynamic force controller;
converting the control moment of the control executing mechanism into the expected rotating speed of each frame gyro of the control executing mechanism through a CMG control law;
and the actual rotation speed of each frame gyro is adjusted to be the expected rotation speed through a servo controller, so that the expected repairing moment and force are obtained.
The invention further adopts the technical scheme that: the coordinate system comprises an inertial coordinate system and a dynamic coordinate system for describing the motion of the navigation body, and a sub-coordinate system of N frame gyroscopic CMGs for controlling the actuating mechanism.
The invention further adopts the technical scheme that: the control actuator comprises 4 frame gyroscopes CMGs, which form a pyramid configuration with minimum redundancy.
The invention further adopts the technical scheme that: the kinematic equation of the navigation body is that,
in the method, in the process of the invention,as the decomposition amount of the linear velocity of the navigation body in the inertial coordinate system, eta 2 For the attitude angle vector of the navigation body, J 1 (η 2 ) Is a transformation matrix from a dynamic coordinate system to an inertial coordinate system, v 1 V, the amount of decomposition of the linear velocity of the navigation body in the dynamic coordinate system 2 Angular velocity vector of the aircraft, J 2 (η 2 ) To be converted intoMatrix (S)>
The invention further adopts the technical scheme that: the kinetic equation of the navigation body is that,
wherein I is 0 Representing the total inertia matrix of the frame gyro CMG with the flywheel non-rotating and the vehicle body as a whole to the vehicle body coordinate system, (·) × An antisymmetric matrix representing (); the installation inclination angle of each frame gyro CMG is beta, delta 1 、δ 2 、δ 3 、δ 4 H of 4 frame gyro CMGs respectively i The angle of rotation of the shaft, the angular momentum of each gyro rotor is J 0 ，For the control moment generated by the CMG.
The invention further adopts the technical scheme that: assuming that the craft is not considering the environmental disturbance forces, the forces are,
wherein: τ d Is hydrodynamic, τ j Is hydrostatic, τ con To control the force X d 、Y d 、Z d 、K d 、M d 、N d Respectively representing hydrodynamic force and moment received in all directions, wherein W is the buoyancy, and h represents the primary stability height.
The invention further adopts the technical scheme that: the input of the hydrodynamic controller is the expected hydrodynamic moment of the navigation body, the output is the expected output moment T of the control actuating mechanism CMGs, the formula is,
wherein T is EXT Including hydrodynamic moments experienced by the vehicle and coupling moments of CMGs to the vehicle.
The invention further adopts the technical scheme that: the CMG manipulation law is represented as,
wherein, the value of a is
C represents a Jacobian matrix, E 4 Representing the identity matrix; a sufficiently small amount γ=γ 0 exp(-kdet(CC T )),Is the periodic small disturbance quantity, < >>Is a constant to be selected.
The invention further adopts the technical scheme that: the input of the servo controller is the expected rotating speed of the servo motor, and the output is the voltage of the servo motor.
A correction system for the hydrodynamic force of a navigation body in a layered ocean comprises a hydrodynamic force controller, wherein the hydrodynamic force controller is used for calculating the expected control moment of a control executing mechanism according to the current hydrodynamic force and the expected hydrodynamic force of the navigation body; the method comprises the steps of controlling an executing mechanism, and installing a plurality of frame gyroscopes CMGs in an aircraft to form pyramid configuration CMGs; the servo controller is used for quickly and accurately following the expected rotating speed of the CMG of each frame gyro according to the actual rotating speed of the servo motor, so that expected repairing moment and force are obtained; the upper computer is used for signal receiving, instruction outputting and calculating.
Advantageous effects
The invention has the beneficial effects that:
1. the invention provides a built-in control actuator, namely a frame control moment gyro group (Control Moment Gyro System, CMGs), wherein the CMGs are arranged in a navigation body, so that the integrity of the appearance curved surface of the navigation body is not damaged, the CMGs do not need to be directly contacted with fluid, the rapidity of the navigation body is not influenced, the sealing and corrosion problems are not considered, and meanwhile, the vibration noise can be effectively reduced.
2. The CMGs configuration designed by the invention can provide moments in three directions, so that the navigation body can flexibly finish maneuvering of various attitude angles. Since CMGs are built into the vehicle, the characteristics of the flow field are not compromised. This is particularly beneficial for aircraft, especially when capturing objects such as micro-organisms that are susceptible to flow fields. At the same time, this also enables the craft to perform fine work tasks underwater.
3. The invention obtains the expected rotating speed of each CMG through the CMG control law, and the control law can reasonably distribute the frame rotating speed of each CMG unit according to the expected moment given by the attitude controller of the underwater navigation body and the frame angle state of the current CMGs system, so that the whole CMGs system can accurately output the repairing moment and force.
3. The frame control moment gyro group CMGs can provide continuous and stable output moment, so that the attitude of a navigation body can be accurately controlled.
Drawings
FIG. 1 is an underwater vehicle control loop of the present invention;
FIG. 2 is a schematic view of a coordinate system of an in-vehicle control actuator according to the present invention;
FIG. 3 is a configuration diagram of a single frame gyro CMG of the present invention;
FIG. 4 is a schematic diagram of a frame control moment gyro group of the present invention;
FIG. 5 is a schematic diagram of a computing domain of an embodiment of the present invention.
Detailed Description
The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
Based on the problem that the influence of the layered ocean on the hydrodynamic force of the aircraft cannot be corrected in the prior art, the invention provides a correction method of the hydrodynamic force of the aircraft in the layered ocean, which is combined with a correction system of the hydrodynamic force of the aircraft in the layered ocean, and solves the technical problems on the basis that the integrity of the appearance curved surface of the aircraft is not damaged; and the device does not need to be in direct contact with fluid, can not influence the rapidity of the navigation body, does not need to consider the problems of sealing and corrosion, and can effectively reduce vibration noise. The correction method comprises the following specific steps:
step 1: defining a coordinate system:
two coordinate systems are used to describe the motion of the vehicle-the ground coordinate system (inertial coordinate system) and the on-board coordinate system (dynamic coordinate system). For an underwater vehicle containing N CMGs, N CMG sub-coordinate systems are also defined, the definition of which is shown in fig. 2. The corresponding parameters for each coordinate system are shown in Table 1. Coordinate system O E -X E Y E Z E Is an inertial system fixedly connected to the earth; coordinate system O b -X b Y b Z b Is a coordinate system fixedly connected with the body of the underwater vehicle, and the origin of the coordinates (O b ) Taking the mass center; coordinate system O i -h i g i t i (i represents the ith CMG) is fixedly connected to the frame of the CMG, and the origin of coordinates is taken on the rotation center of the CMG rotor.
Step 2: kinematic equations and dynamics equations for a vehicle
The kinematics equation based on Euler four elements is:
decomposing the linear velocity of the underwater vehicle in an inertial system and a dynamic system to obtain a decomposition amount ofAnd v 1 ，/>And v 1 Has the following relationship:
J 1 (η 2 ) The transformation matrix from the dynamic system to the inertial system is related to Euler angles phi, theta, phi:
furthermore, the attitude angle vector η of the navigation body 2 And angular velocity vector v 2 The following conversion relationship exists:
conversion matrix J 2 (η 2 ) Given by the formula:
(1) And (3) combining to obtain an underwater vehicle kinematics equation based on Euler angles:
when θ= ±90°, because of J 2 (η 2 ) Is trapped in the singular, at which point (5) cannot describe the motion of the craft. So Euler four element is introduced here, which is defined as follows:
e＝[ε 1 ε 2 ε 3 λ] T (6)
then equation (1) can be written as:
E 1 (e) Related to the euler four element, given by formula (8):
the angular velocity conversion relation can be written as:
E 2 (e) Given by formula (10):
(7) And (9) combining the kinematic equations of the four elements of Euler:
wherein: η (eta) E ＝[x y z ε 1 ε 2 ε 3 ] T ,η 2 V is the attitude angle vector of the navigation body 2 Is an angular velocity vector. Due to the limitation of the space of the underwater vehicle, 4 CMGs are arranged in the underwater vehicle, so that a pyramid configuration with minimum redundancy is formed, as shown in figure 4.
The dynamics equation of an underwater vehicle equipped with a CMG (pyramid configuration) is:
wherein: i 0 Representing the non-rotating flywheel CMG device and the body of the vehicle as a whole to the body of the vehicle coordinate system O b -X b Y b Z b Total inertia matrix, (·) × Representing the antisymmetric matrix of (). The mounting inclination angle of the 4 CMGs is beta, delta 1 、δ 2 、δ 3 、δ 4 H of 4 CMGs respectively i The angle of rotation of the shaft, the angular momentum of each gyro rotor is J 0 。Is the control moment generated by the CMG.
Step 3: forces experienced by the vehicle
The navigation body is assumed to navigate in a wide, quiet and deep sea area, namely, environment interference force is not considered, and the navigation body comprises:
wherein: τ d Is hydrodynamic, τ j Is hydrostatic, τ con To control the force X d 、Y d 、Z d 、K d 、M d 、N d Respectively representing hydrodynamic force and moment received in all directions, wherein W is the buoyancy, and h represents the primary stability height.
Step 4: the input of the hydrodynamic torque controller is the desired hydrodynamic torque of the vehicle and the output is the desired output torque of the control actuators (CMGs herein). In other words, the problem to be studied by the controller is to design a hydrodynamic controller that calculates how much control torque the control actuator should provide based on the current hydrodynamic force and the desired hydrodynamic force of the vehicle.
The separate extraction of equations in the mathematical model describing the attitude and angular velocity of the vehicle can be expressed as follows:
recording deviceT EXT Including hydrodynamic moments experienced by the vehicle and the coupling moments of the CMGs system to the vehicle.
T is the control moment which should be provided by the control executing mechanism.
Step 5: the input to the CMG steering law, the CMGs steering ring, is the output of the hydrodynamic controller, i.e., the output torque desired by the CMGs, and the ring output is the rotational speed of the various frames in the CMGs system. The problem to be solved by the CMGs control ring is to design a CMGs control law, and the control law can reasonably distribute the frame rotating speed of each CMG unit according to the expected moment given by the underwater vehicle attitude controller and the frame angle state of the current CMGs system, so that the whole CMGs system accurately outputs the repairing moment and force.
In step 4, the control torque to be provided by the control actuator is already given, and the CMGs control law is then determined with known TThe desired rotational speed of each CMG is obtained.
The steering laws adopted by the invention are as follows:
wherein the value of a is as follows:
in addition, C represents a jacobian matrix, E 4 Representing the identity matrix. A sufficiently small amount γ=γ 0 exp(-kdet(CC T )),Is the periodic small disturbance quantity, < >>Is a constant to be selected.
Step 6: in the CMG servo model, the input of the CMGs servo loop is the output of the CMGs control loop, namely the expected rotating speed of the servo motor, and the output is the voltage of the servo motor. The problem to be solved by the servo loop is how to design a servo controller, and the controller can enable the actual rotating speed of the servo motor to quickly and accurately follow the expected rotating speed, so that the expected repairing moment and force are obtained.
The system for correcting the hydrodynamic force of the navigation body in the stratified ocean comprises a hydrodynamic force controller, wherein the hydrodynamic force controller is used for calculating the expected control moment of the control executing mechanism according to the current hydrodynamic force and the expected hydrodynamic force of the navigation body; the method comprises the steps of controlling an executing mechanism, and installing a plurality of frame gyroscopes CMGs in an aircraft to form pyramid configuration CMGs; the servo controller is used for quickly and accurately following the expected rotating speed of the CMG of each frame gyro according to the actual rotating speed of the servo motor, so that expected repairing moment and force are obtained; the upper computer is used for signal receiving, instruction outputting and calculating.
The technical solution is further described below by means of specific examples.
In the present embodiment, simulation in a numerical water tank according to a subsboff model is taken as an example
Step 1: constructing a continuously stratified marine environment based on a temperature polynomial, dividing the computational domain as shown in the figure, and varying the temperature range as a function of the depth of water y below the free surface, defined as follows
Wherein T is 0 = 300.12K, the top and bottom variations are 302.12K to 300.12K, c is a constant.
Step 2: the craft is placed in a stratified marine environment with its axis coincident with y=1m, given an initial velocity of 2m/s, only the degrees of freedom in the horizontal direction are opened. And obtaining the stress condition of the navigation body.
Step 3: the marine environment in the step 1 is changed into a marine environment with uniform density distribution, and the density is the same as that at y=1m in the step 1.
Step 4: the craft is placed in a marine environment with a uniform density distribution, with its axis coincident with y=1m, given an initial velocity of 2m/s, only the degrees of freedom in the horizontal direction are opened. And obtaining the stress condition of the navigation body.
Step 5: in order to make the hydrodynamic force born by the layered ocean navigation body consistent with that of the uniform ocean, the hydrodynamic force is taken as expected hydrodynamic force according to the difference value of the stress data of the two marine navigation bodies, and the expected hydrodynamic force is taken as input data of a hydrodynamic force controller.
Step 6: and according to the CMG operation law, obtaining the frame rotating speed of each CMG unit, and further obtaining accurate control force.
Step 7: the servo motor distributes voltage according to the expected rotating speed, so that the rotating speed of the frame is reasonable, and the expected repairing moment and force are finally obtained.
Table 1 parameters corresponding to each coordinate system
And (3) recording:
η＝[η 1 η 2 ] T η 1 ＝[x y z] T η 2 ＝[φ θ ψ] T
v＝[v 1 v 2 ] T v 1 ＝[u v w] T v 2 ＝[p q r] T
τ＝[τ 1 τ 2 ] T τ 1 ＝[X Y Z] T τ 2 ＝[K M N] T
e E ＝[i E j E k E ] T e b ＝[i b j b k b ] T e i ＝[i i j i k i ] T
according to the above examples, it is verified that the CMGs configuration designed by the present invention enables the navigation body to flexibly complete maneuvering of various attitude angles. Since CMGs are built into the vehicle, the characteristics of the flow field are not compromised. This is particularly beneficial for aircraft, especially when capturing objects such as micro-organisms that are susceptible to flow fields. At the same time, this also enables the craft to perform fine work tasks underwater.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (10)
1. A method for correcting hydrodynamic force of a navigation body in stratified ocean is characterized by comprising the following specific steps:
arranging a control executing mechanism in the navigation body, and establishing a coordinate system;
establishing a kinematic equation and a kinetic equation of the navigation body;
obtaining the stress of a navigation body;
according to hydrodynamic force received by the navigation body and the expected hydrodynamic force value, calculating a control moment of the control executing mechanism by the hydrodynamic force controller;
converting the control moment of the control executing mechanism into the expected rotating speed of each frame gyro of the control executing mechanism through a CMG control law;
and the actual rotation speed of each frame gyro is adjusted to be the expected rotation speed through a servo controller, so that the expected repairing moment and force are obtained.
2. A method of modifying the hydrodynamic force of a layered marine vessel according to claim 1, wherein: the coordinate system comprises an inertial coordinate system and a dynamic coordinate system for describing the motion of the navigation body, and a sub-coordinate system of N frame gyroscopic CMGs for controlling the actuating mechanism.
3. A method of modifying the hydrodynamic force of a layered marine vessel according to claim 2, wherein: the control actuator comprises 4 frame gyroscopes CMGs, which form a pyramid configuration with minimum redundancy.
4. A method of modifying the hydrodynamic force of a layered marine vessel according to claim 3, wherein: the kinematic equation of the navigation body is that,
in the method, in the process of the invention,as the decomposition amount of the linear velocity of the navigation body in the inertial coordinate system, eta 2 For the attitude angle vector of the navigation body, J 1 (η 2 ) Is a transformation matrix from a dynamic coordinate system to an inertial coordinate system, v 1 V, the amount of decomposition of the linear velocity of the navigation body in the dynamic coordinate system 2 Angular velocity vector of the aircraft, J 2 (η 2 ) For the conversion matrix +.>
5. The method for modifying the hydrodynamic force of a marine stratified body as claimed in claim 4, wherein: the kinetic equation of the navigation body is that,
wherein I is 0 Representing the total inertia matrix of the frame gyro CMG with the flywheel non-rotating and the vehicle body as a whole to the vehicle body coordinate system, (·) × An antisymmetric matrix representing (); the installation inclination angle of each frame gyro CMG is beta, delta 1 、δ 2 、δ 3 、δ 4 H of 4 frame gyro CMGs respectively i The angle of rotation of the shaft, the angular momentum of each gyro rotor is J 0 ，For the control moment generated by the CMG.
6. The method for modifying the hydrodynamic force of a marine stratified body as claimed in claim 5, wherein:
assuming that the craft is not considering the environmental disturbance forces, the forces are,
wherein: τ d Is hydrodynamic, τ j Is hydrostatic, τ con To control the force X d 、Y d 、Z d 、K d 、M d 、N d Respectively representing hydrodynamic force and moment received in all directions, wherein W is the buoyancy, and h represents the primary stability height.
7. The method for modifying the hydrodynamic force of a marine stratified body as claimed in claim 6, wherein: the input of the hydrodynamic controller is the expected hydrodynamic moment of the navigation body, the output is the expected output moment T of the control actuating mechanism CMGs, the formula is,
wherein T is EXT Including hydrodynamic moments experienced by the vehicle and coupling moments of CMGs to the vehicle.
8. The method for modifying the hydrodynamic force of a marine stratified body as claimed in claim 7, wherein: the CMG manipulation law is represented as,
wherein, the value of a is
C represents a Jacobian matrix, E 4 Representing the identity matrix; a sufficiently small amount γ=γ 0 exp(-kdet(CC T )),Is the periodic small disturbance quantity gamma 0 ,k,σ 0 ,ω 0 ,V i ,/>Is a constant to be selected.
9. The method for modifying the hydrodynamic force of a marine stratified body as claimed in claim 8, wherein: the input of the servo controller is the expected rotating speed of the servo motor, and the output is the voltage of the servo motor.
10. A method of modifying the hydrodynamic force of a marine stratified body as claimed in any one of claims 1 to 9, wherein: the hydraulic control system comprises a hydrodynamic controller, wherein the hydrodynamic controller is used for calculating the expected control moment of a control executing mechanism according to the current hydrodynamic force and the expected hydrodynamic force of a navigation body; the method comprises the steps of controlling an executing mechanism, and installing a plurality of frame gyroscopes CMGs in an aircraft to form pyramid configuration CMGs; the servo controller is used for quickly and accurately following the expected rotating speed of the CMG of each frame gyro according to the actual rotating speed of the servo motor, so that expected repairing moment and force are obtained; the upper computer is used for signal receiving, instruction outputting and calculating.
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