CN117208180A - Underwater vehicle depth adjusting system based on buoyancy adjustment and control method - Google Patents
Underwater vehicle depth adjusting system based on buoyancy adjustment and control method Download PDFInfo
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- 241000234479 Narcissus Species 0.000 claims description 3
- 239000013535 sea water Substances 0.000 description 11
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- 238000006073 displacement reaction Methods 0.000 description 6
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- 230000013575 regulation of buoyancy Effects 0.000 description 1
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Abstract
An underwater vehicle depth adjusting system and a control method based on buoyancy adjustment relate to the technical field of submarines, wherein the system comprises: the device comprises a trim adjustment device, a liquid depth adjustment device, a gas depth adjustment device and a controller, wherein the controller is respectively connected with the trim adjustment device, the liquid depth adjustment device and the gas depth adjustment device; the gas depth adjusting device comprises a high-pressure gas storage tank, a gas pump, an air bag and a fifth electromagnetic valve, wherein a gas outlet of the high-pressure gas storage tank is communicated with a gas inlet of the gas pump through a pipeline, a gas outlet of the gas pump is communicated with a gas inlet of the air bag, a gas outlet of the air bag is connected with the fifth electromagnetic valve, and an outlet of the fifth electromagnetic valve is communicated with the external environment; the system can also return to the water surface through gas adjustment when the liquid depth adjusting device fails, and is strong in system stability and better in safety.
Description
Technical Field
The application relates to the technical field of diving equipment.
Background
An underwater vehicle mainly refers to a robot or a device that autonomously moves and performs tasks. Common types include autonomous underwater robots and steerable underwater robots. The method is used in the fields of marine science research, resource exploration, environmental monitoring, marine safety, infrastructure maintenance and the like, and has important significance for expanding marine cognition and promoting sustainable utilization. As a core means of varying the depth of an underwater vehicle, the depth adjustment system of the underwater vehicle plays a vital role in the normal operation of the underwater vehicle.
The depth adjustment system may be classified into a propeller adjustment type and a buoyancy adjustment type according to the principle of implementation. The propeller adjustment is to change the thrust of the propeller in the vertical direction so as to provide acceleration in the vertical direction for the aircraft, so as to change the depth of the aircraft; the buoyancy regulation type is to change the depth of the propeller by changing the net buoyancy of the aircraft under water so as to generate acceleration in the gravity and buoyancy directions. The buoyancy-adjusting type depth adjusting system can be divided into a volume adjusting type and a weight adjusting type according to different physical quantity changes. The volume-adjusting type depth adjusting system is generally provided with an oil bag or an air bag with a changeable geometric volume, and the drainage volume of the aircraft is changed by changing the volume of the oil bag or the air bag, so that the volume-adjusting type depth adjusting system has the advantages that a relatively accurate buoyancy adjusting system can be provided, meanwhile, the required fixed load is relatively small, but the oil bag or the air bag with a changeable volume is easy to deform or even break under the environment with a large depth, and the adjusting effect is influenced; the simultaneously inflated appendage may significantly increase the drag of the underwater vehicle; a weight-regulated depth adjustment system is a system that varies the depth by changing the weight of the vehicle itself, typically with a liquid or solid ballast that can change its buoyancy. It works well in environments with greater depths, but its range of adjustment is limited by the size of the ballast tanks.
Most of the existing depth adjusting devices adopt one of the devices, have the advantages and the disadvantages of one of the devices, and once the system fails, the system cannot be remedied, and the overall risk resistance of the system is poor and the stability is not enough. In the running process of the underwater vehicle, the underwater vehicle is required to return to the water surface under the emergency conditions such as system failure and the like, so that the reliable running of the vehicle is ensured.
Therefore, how to provide an underwater vehicle depth adjusting system with higher stability and a control method thereof becomes a technical problem to be solved in the field.
Disclosure of Invention
In order to solve the technical problems, the application provides an underwater vehicle depth adjusting system based on buoyancy adjustment and a control method thereof, wherein the system increases air bag type volume adjustment under emergency condition without increasing a lot of fixed load on the basis of traditional single gravity adjustment, and can also return to the water surface through gas adjustment when a liquid depth adjusting device fails, so that the system has strong stability and better safety.
Based on the same inventive concept, the application has three independent technical schemes:
1. an underwater vehicle depth adjusting system based on buoyancy adjustment comprises a trim adjusting device, a liquid depth adjusting device, a gas depth adjusting device and a controller, wherein the controller is respectively connected with the trim adjusting device, the liquid depth adjusting device and the gas depth adjusting device;
the pitching adjusting device comprises a first pitching water tank and a second pitching water tank which are respectively arranged on the bow and the stern of the underwater vehicle, and a first water pump which is connected with the first pitching water tank and the second pitching water tank through pipelines;
the liquid depth adjusting device comprises a buoyancy adjusting water tank and a second water pump, and the second water pump is communicated with a water inlet and a water outlet at the bottom of the buoyancy adjusting water tank;
the gas depth adjusting device comprises a high-pressure gas storage tank, a gas pump, an air bag and a fifth electromagnetic valve, wherein a gas outlet of the high-pressure gas storage tank is communicated with a gas inlet of the gas pump through a pipeline, a gas outlet of the gas pump is communicated with a gas inlet of the air bag, a gas outlet of the air bag is connected with the fifth electromagnetic valve, and an outlet of the fifth electromagnetic valve is communicated with the external environment.
Further, the trim adjustment apparatus further includes a first level gauge, a second level gauge, and a first solenoid valve block; the first liquid level meter and the second liquid level meter are respectively arranged on the first trim water tank and the second trim water tank;
the first electromagnetic valve group comprises a tenth electromagnetic valve, an eleventh electromagnetic valve, a twelfth electromagnetic valve and a thirteenth electromagnetic valve which are sequentially connected end to end through pipelines, the pipelines between the twelfth electromagnetic valve and the tenth electromagnetic valve are communicated with the first trim water tank through pipelines, the pipelines between the eleventh electromagnetic valve and the thirteenth electromagnetic valve are communicated with the second trim water tank through pipelines, the water inlet of the first water pump is communicated with the pipelines between the tenth electromagnetic valve and the eleventh electromagnetic valve through pipelines, and the water outlet of the first water pump is communicated with the pipelines between the twelfth electromagnetic valve and the thirteenth electromagnetic valve through pipelines.
Further, the liquid depth adjusting device further comprises a second throttle valve, a third electromagnetic valve, a second electromagnetic valve group, a first throttle valve and a filter:
the inlet of the second throttle valve is communicated with the water inlet and the water outlet at the bottom of the buoyancy regulating water tank, the outlet of the second throttle valve is sequentially communicated with the third electromagnetic valve, the second electromagnetic valve group, the first throttle valve and the filter through a pipeline, and the filter is communicated with a watertight through hole arranged at the bottom of the cabin of the underwater vehicle through a pipeline; the second electromagnetic valve group comprises a sixth electromagnetic valve, a seventh electromagnetic valve, an eighth electromagnetic valve and a ninth electromagnetic valve which are sequentially connected end to end through pipelines, the third electromagnetic valve is communicated with the pipeline between the sixth electromagnetic valve and the seventh electromagnetic valve through the pipelines, and the first throttle valve is communicated with the pipeline between the eighth electromagnetic valve and the ninth electromagnetic valve through the pipelines; the water inlet of the second water pump is communicated with the pipeline between the seventh electromagnetic valve and the eighth electromagnetic valve through a water inlet pipeline, and the water outlet is communicated with the pipeline between the sixth electromagnetic valve and the ninth electromagnetic valve through a water outlet pipeline.
Further, the gas depth adjusting device further comprises a first electromagnetic valve, a fourth electromagnetic valve and a fifth one-way valve, wherein the first electromagnetic valve is arranged between the high-pressure gas storage tank and the gas pump, the fourth electromagnetic valve is arranged between the gas pump and the gas bag, an inlet of the fifth one-way valve is communicated with an outlet of the fifth electromagnetic valve through a pipeline, and an outlet of the fifth one-way valve is communicated with the external environment.
Further, the liquid depth adjusting device also comprises a pressurizing module and a pressure releasing module, wherein the pressurizing module comprises a fourteenth electromagnetic valve, a first pressure sensor and a second pressure sensor, the fourteenth electromagnetic valve is connected with the air outlet of the air pump, the first pressure sensor is arranged at the bottom of the buoyancy adjusting water tank, and the second pressure sensor is arranged at a watertight through hole at the bottom of the cabin of the narcissus aircraft;
the pressure relief module comprises a second electromagnetic valve, a first overflow valve and a third one-way valve, the buoyancy adjusting water tank is sequentially connected with the second electromagnetic valve, the first overflow valve and the third one-way valve, and the third one-way valve is communicated with the outside of the cabin body through a pipeline.
Further, a first one-way valve is arranged between the fourth electromagnetic valve and the air bag, and a third pressure sensor is arranged on the air bag.
2. The underwater vehicle depth and trim adjusting method based on buoyancy adjustment is realized based on the system and comprises a submerging step, an upward floating step, a bow trim adjusting step and a stern trim adjusting step;
the submerging step includes: the controller controls the liquid depth adjusting device to feed water and controls the gas depth adjusting device to exhaust;
the floating step comprises the following steps: the controller controls the liquid depth adjusting device to drain water and controls the gas depth adjusting device to charge gas;
the bow inclination adjusting step comprises the following steps: the controller controls water in the second trim tank at the stern of the underwater vehicle to drain into the first trim tank at the bow of the underwater vehicle;
the step of adjusting the stern leaning comprises the following steps: the controller controls the water in the first trim tank at the bow of the underwater vehicle to drain into the second trim tank at the stern of the underwater vehicle.
Further, the inflating step of the gas depth adjusting device includes:
closing the fifth electromagnetic valve;
opening the first electromagnetic valve, the fourth electromagnetic valve and the air pump to enable the air in the high-pressure air storage tank to sequentially enter the air bag through the first electromagnetic valve, the air pump, the fourth electromagnetic valve and the first one-way valve;
and monitoring the air pressure in the air bag and the external pressure by using the second pressure sensor and the third pressure sensor, and closing the air pump and the fourth electromagnetic valve when the pressure difference reaches a preset pressure value.
3. An underwater vehicle depth control method based on buoyancy adjustment is realized based on the system and comprises the following steps:
performing mathematical modeling on a motion space of the underwater vehicle;
determining a sliding mode surface according to a model obtained by mathematical modeling;
and obtaining a target depth and a current depth, taking the target depth as a control input, inputting the control input into a sliding mode surface to realize sliding, taking an error between the current depth and the target depth as a sliding mode surface variable, and determining a control law based on the sliding mode surface variable and the control input to realize depth control of the underwater vehicle.
Further, the control law is expressed as follows:
e＝q-q d ；
where τ represents the control law,representing the estimated values of the matrix, A and K being positive gain matrices, s representing the variables of the time domain mapped to s domain, e representing the error, Λ representing the error represented by +.>Diagonal matrix formed by matrix eigenvalues, q represents depth, q d Represents the target depth, q r Representing the current depth.
The application provides an underwater vehicle depth adjusting system and a control method based on buoyancy adjustment, which at least comprise the following beneficial effects:
(1) According to the buoyancy adjustment-based underwater vehicle depth adjustment system, on the basis of a traditional gravity adjustment system, the air bag type volume adjustment system under an emergency condition is added under the condition that a lot of fixed loads are not added, the water pump and the electromagnetic valve group are used for controlling the seawater in the main water tank to enter and discharge under the conventional working condition so as to realize the depth adjustment of navigation, and meanwhile, the water pump and the electromagnetic valve group are used for controlling the water distribution of the auxiliary water tank so as to realize the effect of changing pitching; in case of failure of the gravity adjusting system or other emergency, the air bag of the buoyancy adjusting system works to increase the drainage volume, and the underwater vehicle can still be conveyed to the water surface, so that the reliability of the whole equipment is improved.
(2) The system provided by the application is provided with the high-pressure air storage tank and the related pressure sensor and the air pressure pump, so that the pressure difference between the water tank and the external water quantity can be balanced, and the phenomenon that the water inlet or water discharge flow is not constant due to overlarge pressure difference between the main water tank and the external water tank is prevented, and the accurate control of the depth of the aircraft is influenced.
(3) The underwater vehicle control method based on the depth adjusting system provided by the application can accurately adjust the depth and trim of the vehicle based on sliding mode control, and has convenience and reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an embodiment of an underwater vehicle depth adjustment system based on buoyancy adjustment provided by the present application;
FIG. 2 is a schematic diagram of a motion space coordinate system of an underwater vehicle in the buoyancy adjustment-based underwater vehicle depth control method provided by the application;
reference numerals: 1-first trim tank, 2-second trim tank, 3-first water pump, 4-tenth solenoid valve, 5-eleventh solenoid valve, 6-twelfth solenoid valve, 7-thirteenth solenoid valve, 8-high pressure tank, 9-first solenoid valve, 10-air pump, 11-fourteenth solenoid valve, 12-second solenoid valve, 13-first relief valve, 14-third check valve, 15-fourth solenoid valve, 16-first check valve, 17-air bag, 18-third pressure sensor, 19-fifth solenoid valve, 20-fifth check valve, 21-first pressure sensor, 22-buoyancy adjusting tank, 23-second relief valve, 24-second relief valve, 25-third solenoid valve, 26-sixth solenoid valve, 27-seventh solenoid valve, 28-ninth solenoid valve, 29-eighth solenoid valve, 30-fourth check valve, 31-first relief valve, 32-filter, 33-second pressure sensor, 34-third relief valve, 35-second water pump, 36-controller.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Embodiment one:
referring to fig. 1, in some embodiments, an underwater vehicle depth adjustment system based on buoyancy adjustment is provided, comprising a trim adjustment apparatus, a liquid depth adjustment apparatus, a gas depth adjustment apparatus, and a controller 36, the controller 36 being connected to the trim adjustment apparatus, the liquid depth adjustment apparatus, and the gas depth adjustment apparatus, respectively;
wherein the controller 36 is connected with the trim adjustment apparatus for controlling the water distribution of the trim adjustment apparatus; the controller 36 is connected with the liquid depth adjusting device and is used for controlling water inlet and water discharge of the conventional liquid depth adjusting device; the controller 36 is connected to the gas depth adjustment device for controlling the intake and exhaust of the emergency gas depth adjustment device.
The pitching adjusting device comprises a first pitching water tank 1 and a second pitching water tank 2 which are respectively arranged at the bow and the stern of the underwater vehicle, and a first water pump 3 which is connected with the first pitching water tank 1 and the second pitching water tank 2 through pipelines; the tops of the first trim water tank 1 and the second trim water tank 2 are connected through a vent pipe, wherein the first trim water tank 1 and the second trim water tank 2 are arranged on the bow and the stern of the aircraft, the weight distribution is changed by changing the distribution of water in the two water tanks, so that the trim condition of the aircraft is changed, and the first water pump 3 is used for providing power for transferring liquid between the first trim water tank 1 and the second trim water tank 2.
The liquid depth adjusting device comprises a buoyancy adjusting water tank 22 and a second water pump 35, wherein the second water pump 35 is communicated with a water inlet and a water outlet at the bottom of the buoyancy adjusting water tank 22 and is used for controlling inflow and discharge of seawater in the water tank; the buoyancy adjusting water tank 22 is used for storing liquid to adjust the gravity of the aircraft, and the second water pump 35 is used for supplying power for water inlet and water discharge of the liquid depth adjusting device.
The gas depth adjusting device comprises a high-pressure gas storage tank 8, a gas pump 10, a gas bag 17 and a fifth electromagnetic valve 19, wherein a gas outlet of the high-pressure gas storage tank 8 is communicated with a gas inlet of the gas pump 10 through a pipeline, a gas outlet of the gas pump 10 is communicated with a gas inlet of the gas bag 17, a gas outlet of the gas bag 17 is connected with the fifth electromagnetic valve 19, and an outlet of the fifth electromagnetic valve 19 is communicated with the external environment. The high-pressure air storage tank 8 is used for storing high-pressure air, the air bag 17 is arranged on the upper part of the aircraft, and the air bag 17 is filled with air or the air in the air bag 17 is discharged to change the drainage volume of the aircraft, so that the buoyancy of the aircraft is changed to realize rapid floating; the air pump 10 is used to inflate the air bag 17.
Preferably, the trim adjustment apparatus further comprises a first level gauge, a second level gauge, and a first solenoid valve group; the first liquid level meter and the second liquid level meter are respectively arranged on the first trim water tank 1 and the second trim water tank 2;
the first electromagnetic valve group comprises a tenth electromagnetic valve 4, an eleventh electromagnetic valve 5, a twelfth electromagnetic valve 6 and a thirteenth electromagnetic valve 7 which are sequentially connected end to end through pipelines, the pipeline between the twelfth electromagnetic valve 6 and the tenth electromagnetic valve 4 is communicated with the first trim water tank 1 through the pipeline, the pipeline between the eleventh electromagnetic valve 5 and the thirteenth electromagnetic valve 7 is communicated with the second trim water tank 2 through the pipeline, the water inlet of the first water pump 3 is communicated with the pipeline between the tenth electromagnetic valve 4 and the eleventh electromagnetic valve 5 through the pipeline, and the water outlet of the first water pump 3 is communicated with the pipeline between the twelfth electromagnetic valve 6 and the thirteenth electromagnetic valve 7 through the pipeline. The first liquid level meter and the second liquid level meter are used for recording water distribution in the first trim water tank 1 and the second trim water tank 2, and the first electromagnetic valve group and the first water pump 3 form a water inlet or water outlet loop by controlling the on-off of different electromagnetic valves in the first electromagnetic valve group.
Preferably, the liquid depth adjusting device further includes a second throttle valve 23, a third solenoid valve 25, a second solenoid valve group, a first throttle valve 31, and a filter 32:
the inlet of the second throttle valve 23 is communicated with a water inlet and a water outlet at the bottom of the buoyancy regulating water tank 22, the outlet is sequentially communicated with the third electromagnetic valve 25, the second electromagnetic valve group, the first throttle valve 31 and the filter 32 through pipelines, and the filter 32 is communicated with a watertight through hole arranged at the bottom of the cabin of the underwater vehicle through pipelines; the second electromagnetic valve group comprises a sixth electromagnetic valve 26, a seventh electromagnetic valve 27, an eighth electromagnetic valve 29 and a ninth electromagnetic valve 28 which are sequentially connected end to end through pipelines, the third electromagnetic valve 25 is communicated with the pipeline between the sixth electromagnetic valve 26 and the seventh electromagnetic valve 27 through the pipelines, and the first throttle valve 31 is communicated with the pipeline between the eighth electromagnetic valve 29 and the ninth electromagnetic valve 28 through the pipelines; the water inlet of the second water pump 35 is communicated with the pipeline between the seventh electromagnetic valve 27 and the eighth electromagnetic valve 29 through a water inlet pipeline, and the water outlet is communicated with the pipeline between the sixth electromagnetic valve 26 and the ninth electromagnetic valve 28 through a water outlet pipeline. A pressure balance valve is arranged between a water inlet pipeline and a water outlet pipeline of the unidirectional variable displacement sea water pump. Wherein the second throttle valve 23 is used for preventing the excessive flow of the liquid ballast in the pipeline: the third electromagnetic valve 25 plays a role of a switch, and is opened in emergency when the liquid ballast device fails, so as to protect the water tank; by controlling the opening and closing of different electromagnetic valves in the second electromagnetic valve group, the electromagnetic valve group and the unidirectional variable displacement sea water pump form a water inlet or water outlet loop: the second water pump 35 provides power for the intake and discharge of the liquid ballast, and the pressure balancing valve is used for balancing the pressure in the liquid ballast pipeline.
Preferably, the first water pump 3 is a unidirectional variable displacement water pump, and the second water pump 35 is a unidirectional variable displacement sea water pump.
Preferably, the gas depth adjusting device further comprises a first electromagnetic valve 9, a fourth electromagnetic valve 15 and a fifth one-way valve 20, wherein the first electromagnetic valve 9 is arranged between the high-pressure gas storage tank 8 and the gas pump 10, the fourth electromagnetic valve 15 is arranged between the gas pump 10 and the gas bag 17, an inlet of the fifth one-way valve 20 is communicated with an outlet of the fifth electromagnetic valve 19 through a pipeline, and an outlet of the fifth one-way valve 20 is communicated with the external environment. Wherein, the air pump 10 is a unidirectional variable displacement air pump 10, and the fifth one-way valve 20 is used for preventing the back flow of seawater when the air bag 17 is exhausted.
Preferably, in order to balance the pressure difference between the buoyancy adjusting water tank 22 and the external environment, the liquid depth adjusting device further comprises a pressurizing module and a pressure releasing module, wherein the pressurizing module comprises a fourteenth electromagnetic valve 11, a first pressure sensor 21 and a second pressure sensor 33, the fourteenth electromagnetic valve 11 is connected with the air outlet of the air pump 10, the first pressure sensor 21 is arranged at the bottom of the buoyancy adjusting water tank 22, and the second pressure sensor 33 is arranged at a watertight through hole at the bottom of the cabin of the narcissus aircraft; the fourteenth electromagnetic valve 11 is used for controlling whether to pressurize the water tank to balance the internal and external pressure, and the first pressure sensor 21 and the second pressure sensor 33 are used for measuring the internal and external pressure difference.
The pressure relief module comprises a second electromagnetic valve 12, a first overflow valve 13 and a third one-way valve 14, the buoyancy regulating water tank 22 is sequentially connected with the second electromagnetic valve 12, the first overflow valve 13 and the third one-way valve 14, the third one-way valve 14 is communicated with the outside of the cabin through a pipeline, and the third one-way valve 14 is used for preventing seawater from flowing back during pressure relief.
Preferably, a liquid level meter is arranged on the buoyancy adjusting water tank 22, a second overflow valve 24 is arranged between the second throttle valve 23 and the third electromagnetic valve 25, a fourth one-way valve 30 is arranged on a water outlet pipeline of the second water pump 35, and a third overflow valve 34 is arranged at a water outlet of the second water pump 35. Wherein, the liquid level meter is used for acquiring liquid level information in the buoyancy regulating water tank 22 in real time; the second overflow valve 24 is used for releasing the pressure in the pipeline and preventing the water pressure at the water inlet and outlet of the liquid ballast tank from being excessive; the third overflow valve 34 is used for preventing the positive one-way variable displacement sea water pump from generating faults due to the too high water outlet pressure; the fourth check valve 30 is used to prevent the back flow of seawater from occurring due to excessive pressure in the liquid ballast tank.
Preferably, a first check valve 16 is disposed between the fourth electromagnetic valve 15 and the air bag 17, and a third pressure sensor 18 is disposed on the air bag 17. Wherein the first check valve 16 is used for preventing backflow in the air bag 17 due to excessive gas pressure; the third pressure sensor 18 is used to monitor the gas pressure in the balloon 17 in real time.
Embodiment two:
in some embodiments, an underwater vehicle depth and trim adjustment method based on buoyancy adjustment is provided, which is implemented based on the system provided in embodiment one, and includes a submerging step, a floating step, a bow-trim adjustment step, and a stern-trim adjustment step;
the submerging step includes: the controller 36 controls the liquid depth adjusting device to feed water according to the received submergence command, and controls the gas depth adjusting device to exhaust;
the floating step comprises the following steps: the controller 36 controls the liquid depth adjusting device to drain water according to the received floating instruction, and controls the gas depth adjusting device to charge air at the same time;
the bow inclination adjusting step comprises the following steps: the controller 36 receives a bow inclination adjusting instruction and controls water in the second trim water tank 2 positioned at the stern of the underwater vehicle to be discharged into the first trim water tank 1 positioned at the bow of the underwater vehicle;
the step of adjusting the stern leaning comprises the following steps: the controller 36 controls the water in the first trim tank 1 located at the bow of the underwater vehicle to be discharged into the second trim tank 2 located at the stern of the underwater vehicle according to the received trim adjustment command.
Specifically, the water inlet process of the liquid depth adjusting device comprises the following steps:
s11, the controller 36 opens the eighth electromagnetic valve 29 and the sixth electromagnetic valve 26 according to the received water inlet instruction, and closes the seventh electromagnetic valve 27 and the ninth electromagnetic valve 28 to form a water inlet loop;
s12, the second water pump 35 works to enable seawater to enter the water tank through the watertight through hole of the bilge, the filter 32, the first throttle valve 31, the eighth electromagnetic valve 29, the second water pump 35, the sixth electromagnetic valve 26, the third electromagnetic valve 25 and the second throttle valve 23;
s13, monitoring the water level in the water tank in real time by using a liquid level meter, and when the water level of the liquid ballast tank reaches a designated water level, closing the second water pump 35 by the controller 36, and closing the sixth electromagnetic valve 26 and the eighth electromagnetic valve 29;
the exhaust process of the gas depth adjusting device comprises the following steps:
s21, the controller 36 closes the first electromagnetic valve 9, the air pump 10 and the fourteenth electromagnetic valve 11 according to the received exhaust instruction, and stops introducing air into the air bag 17;
s22, opening the fifth electromagnetic valve 19, and discharging the gas in the air bag 17 through the fifth electromagnetic valve 19 and the fifth one-way valve 20 in sequence.
Preferably, the process of draining the liquid depth adjusting device comprises the following steps:
s31, the controller 36 opens the seventh electromagnetic valve 27 and the ninth electromagnetic valve 28 according to the received water inlet instruction, and closes the sixth electromagnetic valve 26 and the eighth electromagnetic valve 29 to form a drainage loop;
and S32, the second water pump 35 works to enable the seawater to pass through the second throttle valve 23, the third electromagnetic valve 25, the ninth electromagnetic valve 28, the second water pump 35, the seventh electromagnetic valve 27, the first throttle valve 31, the filter 32 and the watertight through hole of the bilge to be discharged out of the bilge.
And S33, monitoring the water level in the water tank in real time by using a liquid level meter, and when the water level of the liquid ballast tank reaches a specified water level, closing the second water pump 35 by the controller 36, and closing the seventh electromagnetic valve 27 and the ninth electromagnetic valve 28.
The gas depth adjusting device comprises the following steps:
s41, closing the fifth electromagnetic valve 19;
s42, opening the first electromagnetic valve 9, the fourth electromagnetic valve 15 and the air pump 10, so that the air in the high-pressure air storage tank 8 sequentially passes through the first electromagnetic valve 9, the air pump 10, the fourth electromagnetic valve 15 and the first one-way valve 16 to enter the air bag 17;
and S43, using the second pressure sensor 33 and the third pressure sensor 18 to monitor the air pressure in the air bag 17 and the external pressure, and closing the air pump 10 and the fourth electromagnetic valve 15 when the pressure difference reaches a preset pressure value.
A process of discharging water of the second trim tank 2 into the first trim tank 1, comprising the steps of:
and S51, the controller 36 opens the twelfth electromagnetic valve 6 and the eleventh electromagnetic valve 5 according to the received bow inclination adjusting instruction, and closes the tenth electromagnetic valve 4 and the thirteenth electromagnetic valve 7.
S52, the first water pump 3 is turned on, so that water in the second trim water tank 2 sequentially passes through the eleventh electromagnetic valve 5, the first water pump 3 and the twelfth electromagnetic valve 6 and enters the first trim adjusting water tank.
And S53, monitoring the water levels in the first trim water tank 1 and the second trim water tank 2 by using the first water level gauge and the second water level gauge, and closing the twelfth electromagnetic valve 6, the eleventh electromagnetic valve 5 and the first water pump 3 after the water levels reach the designated water levels.
A process of discharging water of the first trim tank 1 into the second trim tank 2, comprising the steps of:
and S61, the controller 36 closes the twelfth electromagnetic valve 6 and the eleventh electromagnetic valve 5 according to the received bow inclination adjusting instruction, and opens the tenth electromagnetic valve 4 and the thirteenth electromagnetic valve 7.
S62, the first water pump 3 is turned on, so that water in the first trim water tank 1 sequentially passes through the tenth electromagnetic valve 4, the first water pump 3 and the thirteenth electromagnetic valve 7 and enters the second trim water tank 2.
And S63, monitoring the water levels in the first trim water tank 1 and the second trim water tank 2 by using the first water level gauge and the second water level gauge, and closing the tenth electromagnetic valve 4, the thirteenth electromagnetic valve 7 and the first water pump 3 after the water levels reach the designated water levels.
Preferably, the depth and trim adjustment method further includes a pressure balancing step of the buoyancy adjusting water tank 22 and the outside, the pressure balancing step including the steps of:
calculating the internal and external pressure difference according to the first pressure sensor 21 and the second pressure sensor 33, and determining pressurization or depressurization according to the numerical value of the pressure difference of the two pressure differences;
pressurizing or depressurizing is carried out to enable the pressure difference to reach the balance threshold value.
The pressurizing process comprises the following steps:
s71, the controller 36 obtains a pressurization command, opens the first solenoid valve 9 and the fourteenth solenoid valve 11, and closes the second solenoid valve:
s72, the air pump 10 starts to work, and the air in the high-pressure air storage tank 8 sequentially enters the buoyancy regulating water tank 22 through the first electromagnetic valve 9, the air pump 10 and the first one-way valve 1611;
s73, when the pressure difference between the first pressure sensor 21 and the second pressure sensor 33 reaches the balance threshold, the first electromagnetic valve 9, the fourteenth electromagnetic valve 11, and the air pump 10 are closed.
The pressure relief process comprises the following steps:
s81, the controller 36 obtains a pressure relief instruction, opens the second electromagnetic valve 12, and closes the fourteenth electromagnetic valve 11:
s82, the gas in the buoyancy regulating water tank 22 is discharged out of the boat through the second electromagnetic valve 12 and the third one-way valve 14 in sequence.
S83, when the pressure difference between the first pressure sensor 21 and the second pressure sensor 33 reaches the equilibrium threshold, the second electromagnetic valve 12 is closed.
Embodiment III:
in some embodiments, an underwater vehicle depth control method based on buoyancy adjustment is provided, which is implemented based on the above system, and includes the following steps:
step 1: performing mathematical modeling on a motion space of the underwater vehicle;
step 2: determining a sliding mode surface according to a model obtained by mathematical modeling;
step 3: and obtaining a target depth and a current depth, taking the target depth as a control input, inputting the control input into a sliding mode surface to realize sliding, taking an error between the current depth and the target depth as a sliding mode surface variable, and determining a control law based on the sliding mode surface variable and the control input to realize depth control of the underwater vehicle.
Specifically, in step 1, the movement space of the submersible is described by the following three-dimensional cartesian coordinate system. The right-hand cartesian coordinate system is shown in fig. 2. One is a geodetic coordinate system, abbreviated as "fixed system", which is fixedly connected to the earth; the other is a satellite coordinate system, which is called a dynamic system for short, and is fixedly connected with the moving underwater robot to move along with the underwater robot.
The space position of the underwater robot can be represented by the ground coordinate value (ζ, eta, ζ) of the dynamic system relative to the ground coordinate system and three attitude angles of the dynamic system relative to the fixed systemTo determine that the position parameter under the definite line is +.>The speed (u, v, w) and angular speed (p, q, r) of the underwater robot under the power train are expressed, namely, χ under the power train 2 ＝[u v w p q r]The force and moment provided by the underwater robot actuator is expressed as τ= [ X Y Z K M N ]]The speed, angular velocity, force and moment of the underwater robot are shown in the following table.
For the content of this patent, the device is only designed to adjust the depth and pitch of the submersible, thus simplifying the model. For depth control, only the physical quantity in the z-axis direction may be studied.
In step 3, the control law is expressed as follows:
e＝q-q d ；
where τ represents the control law,representing the estimated values of the matrix, A and K being positive gain matrices, s representing the variables of the time domain mapped to s domain, e representing the error, Λ representing the error represented by +.>Diagonal matrix formed by matrix eigenvalues, q represents depth, q d Represents the target depth, q r Representing the current depth.
It should be noted that, in the above formula,representing the first derivative of the current depth with respect to time, is->Representing the second derivative of the current depth with respect to time.
In one application scenario, first, a submersible control law is defined as follows:
e＝q-q d ；
to design the controller, an error e and a sliding surface s are defined, and the control law becomes:
wherein,representing the estimated values of the matrix, a and K are positive gain matrices.
Wherein delta represents the adaptive parameter matrix,representing the error of the G matrix estimate.
The system stability analysis of the control method is performed as follows:
assume a lyapunov candidate function is:
the time derivative is as follows:
assuming that delta changes very slowly with respect to the adaptation rate, such an adaptation law can be obtained:
for this condition we can assume τ ext From the above equation, we can conclude that s+.0 in the case of t→0, and thus e→0 is exponentially. If τ ext Not equal to 0, it can be concluded that s is bounded, and thus e is bounded, in conclusion the adaptive synovial controller is stable.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application. It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. An underwater vehicle depth adjustment system based on buoyancy adjustment, characterized by comprising a trim adjustment apparatus, a liquid depth adjustment apparatus, a gas depth adjustment apparatus, and a controller (36), wherein the controller (36) is connected with the trim adjustment apparatus, the liquid depth adjustment apparatus, and the gas depth adjustment apparatus, respectively;
the pitching adjusting device comprises a first pitching water tank (1) and a second pitching water tank (2) which are respectively arranged on the bow and the stern of the underwater vehicle, and a first water pump (3) which is connected with the first pitching water tank (1) and the second pitching water tank (2) through pipelines;
the liquid depth adjusting device comprises a buoyancy adjusting water tank (22) and a second water pump (35), and the second water pump (35) is communicated with a water inlet and a water outlet at the bottom of the buoyancy adjusting water tank (22);
the gas depth adjusting device comprises a high-pressure gas storage tank (8), an air pump (10), an air bag (17) and a fifth electromagnetic valve (19), wherein a gas outlet of the high-pressure gas storage tank (8) is communicated with a gas inlet of the air pump (10) through a pipeline, a gas outlet of the air pump (10) is communicated with a gas inlet of the air bag (17), a gas outlet of the air bag (17) is connected with the fifth electromagnetic valve (19), and an outlet of the fifth electromagnetic valve (19) is communicated with the external environment.
2. The underwater vehicle depth adjustment system of claim 1, wherein the trim adjustment apparatus further comprises a first level gauge, a second level gauge, and a first solenoid valve block; the first liquid level meter and the second liquid level meter are respectively arranged on the first trim water tank (1) and the second trim water tank (2);
the first electromagnetic valve group comprises a tenth electromagnetic valve (4), an eleventh electromagnetic valve (5), a twelfth electromagnetic valve (6) and a thirteenth electromagnetic valve (7) which are sequentially connected end to end through pipelines, the twelfth electromagnetic valve (6) is communicated with the first pitching water tank (1) through the pipelines, the eleventh electromagnetic valve (5) is communicated with the second pitching water tank (2) through the pipelines, the water inlet of the first water pump (3) is communicated with the pipelines between the tenth electromagnetic valve (4) and the eleventh electromagnetic valve (5) through the pipelines, and the water outlet of the first water pump (3) is communicated with the pipelines between the twelfth electromagnetic valve (6) and the thirteenth electromagnetic valve (7) through the pipelines.
3. The underwater vehicle depth adjustment system as claimed in claim 1, characterized in that the liquid depth adjustment device further comprises a second throttle valve (23), a third solenoid valve (25), a second solenoid valve group, a first throttle valve (31) and a filter (32);
an inlet of the second throttle valve (23) is communicated with a water inlet and a water outlet at the bottom of the buoyancy regulating water tank (22), an outlet of the second throttle valve is sequentially communicated with the third electromagnetic valve (25), the second electromagnetic valve group, the first throttle valve (31) and the filter (32) through pipelines, and the filter (32) is communicated with a watertight through hole arranged at the bottom of an underwater vehicle cabin through a pipeline; the second electromagnetic valve group comprises a sixth electromagnetic valve (26), a seventh electromagnetic valve (27), an eighth electromagnetic valve (29) and a ninth electromagnetic valve (28) which are sequentially connected end to end through pipelines, the third electromagnetic valve (25) is communicated with the pipeline between the sixth electromagnetic valve (26) and the seventh electromagnetic valve (27) through the pipeline, and the first throttle valve (31) is communicated with the pipeline between the eighth electromagnetic valve (29) and the ninth electromagnetic valve (28) through the pipeline; the water inlet of the second water pump (35) is communicated with the pipeline between the seventh electromagnetic valve (27) and the eighth electromagnetic valve (29) through a water inlet pipeline, and the water outlet is communicated with the pipeline between the sixth electromagnetic valve (26) and the ninth electromagnetic valve (28) through a water outlet pipeline.
4. The underwater vehicle depth adjustment system as claimed in claim 1, characterized in that the gas depth adjustment device further comprises a first solenoid valve (9), a fourth solenoid valve (15) and a fifth one-way valve (20), the first solenoid valve (9) being arranged between the high pressure gas storage tank (8) and the gas pump (10), the fourth solenoid valve (15) being arranged between the gas pump (10) and the gas bag (17), an inlet of the fifth one-way valve (20) being in communication with an outlet of the fifth solenoid valve (19) through a pipe, an outlet of the fifth one-way valve (20) being in communication with an external environment.
5. An underwater vehicle depth adjustment system as claimed in claim 3, characterized in that the liquid depth adjustment device further comprises a pressurizing module and a pressure releasing module, the pressurizing module comprises a fourteenth electromagnetic valve (11), a first pressure sensor (21) and a second pressure sensor (33), the fourteenth electromagnetic valve (11) is connected with the air outlet of the air pump (10), the first pressure sensor (21) is arranged at the bottom of the buoyancy adjustment water tank (22), and the second pressure sensor (33) is arranged at a watertight through hole at the bottom of the cabin of the narcissus vehicle;
the pressure relief module comprises a second electromagnetic valve (12), a first overflow valve (13) and a third one-way valve (14), the buoyancy adjusting water tank (22) is sequentially connected with the second electromagnetic valve (12), the first overflow valve (13) and the third one-way valve (14), and the third one-way valve (14) is communicated with the outside of the cabin through a pipeline.
6. The underwater vehicle depth adjustment system as claimed in claim 4, characterized in that a first one-way valve (16) is provided between the fourth solenoid valve (15) and the air bag (17), and a third pressure sensor (18) is provided on the air bag (17).
7. An underwater vehicle depth and trim adjustment method based on buoyancy adjustment, characterized in that the underwater vehicle depth and trim adjustment method is implemented based on the system according to any one of claims 1-6, comprising a submerging step, an upward floating step, a bow trim adjustment step, a stern trim adjustment step;
the submerging step includes: the controller (36) controls the liquid depth adjusting device to feed water and controls the gas depth adjusting device to exhaust;
the floating step comprises the following steps: the controller (36) controls the liquid depth adjusting device to drain water and controls the gas depth adjusting device to charge gas;
the bow inclination adjusting step comprises the following steps: -said controller (36) controlling the draining of water in said second trim tank (2) located at the stern of the underwater vehicle into said first trim tank (1) located at the bow of the underwater vehicle;
the step of adjusting the stern leaning comprises the following steps: the controller (36) controls the draining of water in the first trim tank (1) at the bow of the underwater vehicle into the second trim tank (2) at the stern of the underwater vehicle.
8. The underwater vehicle depth and trim adjustment method of claim 7, wherein the inflating step of the gas depth adjustment apparatus comprises:
closing the fifth solenoid valve (19);
opening the first electromagnetic valve (9), the fourth electromagnetic valve (15) and the air pump (10) to enable air in the high-pressure air storage tank (8) to sequentially enter the air bag (17) through the first electromagnetic valve (9), the air pump (10), the fourth electromagnetic valve (15) and the first one-way valve (16);
the air pressure in the air bag (17) and the external pressure are monitored by using a second pressure sensor (33) and a third pressure sensor (18), when the pressure difference reaches a preset pressure value, the air pump (10) is closed, and the fourth electromagnetic valve (15) is closed.
9. An underwater vehicle depth control method based on buoyancy adjustment, characterized in that the underwater vehicle depth control method is implemented based on the system according to any one of claims 1-6, comprising the steps of:
performing mathematical modeling on a motion space of the underwater vehicle;
determining a sliding mode surface according to a model obtained by mathematical modeling;
and obtaining a target depth and a current depth, taking the target depth as a control input, inputting the control input into a sliding mode surface to realize sliding, taking an error between the current depth and the target depth as a sliding mode surface variable, and determining a control law based on the sliding mode surface variable and the control input to realize depth control of the underwater vehicle.
10. The underwater vehicle depth control method of claim 9, wherein the control law is expressed as follows:
e＝q-q d ；
where τ represents the control law,representing the estimated values of the matrix, A and K being positive gain matrices, s representing the variables of the time domain mapped to s domain, e representing the error, Λ representing the error represented by +.>Diagonal matrix formed by matrix eigenvalues, q represents depth, q d Represents the target depth, q r Representation ofCurrent depth.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311263810.1A CN117208180A (en) | 2023-09-27 | 2023-09-27 | Underwater vehicle depth adjusting system based on buoyancy adjustment and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311263810.1A CN117208180A (en) | 2023-09-27 | 2023-09-27 | Underwater vehicle depth adjusting system based on buoyancy adjustment and control method |
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| CN117208180A true CN117208180A (en) | 2023-12-12 |
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| CN202311263810.1A Pending CN117208180A (en) | 2023-09-27 | 2023-09-27 | Underwater vehicle depth adjusting system based on buoyancy adjustment and control method |
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| Country | Link |
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| CN (1) | CN117208180A (en) |
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2023
- 2023-09-27 CN CN202311263810.1A patent/CN117208180A/en active Pending
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