RU2536303C1 - Submarine apparatus control device - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: submarine (1) comprises propulsors of vertical and horizontal motion propulsors (2) and (3), rotary TV camera (4), TV camera turn angle transducer (5), first, second and third nonlinear functional transducers (6, 7, 8), propulsors control unit (9), distance transducer (10), manually actuated switch (11), threshold element (12) and electronically controlled switch (13).

EFFECT: reliable and accurate approach to detected object.

1 dwg

Description

The invention relates to underwater vehicles, and in particular to systems for controlling the movement of these vehicles, and can be used in the development of control systems for underwater vehicles that provide movement in the direction of the detected object.

A known system of continuous automatic stabilization of an underwater vehicle in space, protected by the USSR copyright certificate No. 329753, class. B63G 8/22, 1971. It contains an underwater vehicle, a control handle, a control signal conditioner, a power amplifier, a mover, an integrating link, a magnetic adder amplifier, a feedback unit and a steering unit.

Signs common with the features of the claimed device in this analogue are an underwater vehicle, a control handle, a driver of a control signal, a power amplifier and a propulsion device.

The reason that impedes the achievement in this analogue of the technical result achieved in the invention is the limited functionality. The fact is that this analogue only provides stabilization of the underwater vehicle in space and does not ensure its movement in a given direction, and even more so along a given route.

Also known is a device for controlling an underwater vehicle with neutral buoyancy, protected by RF patent No. 1205457, class. B63 8/22, G05B 11/00, 1994. It comprises an underwater vehicle, a vertical propulsion unit, a horizontal propulsion unit, a rotary mounted camera, a propulsion control unit, a camera rotation angle sensor, a detected object, two non-linear functional converters, two key, three threshold elements, an adder, logical elements NOT and OR, two blocks of multiplication, a constant signal source and two amplifiers.

All of the listed elements of this analogue, except for the adder, multiplication blocks, second and third threshold elements, logical elements NOT and OR, and a constant signal source, are also included in the inventive device. This analogue, unlike the first analogue, not only stabilizes the underwater vehicle in space, but also ensures its movement in the direction of the detected object.

The reason that impedes the achievement in this analogue of the technical result achieved in the invention is the relatively long time the underwater vehicle reaches the detected object. The fact is that at large distances to the detected object when moving at an acceptable speed, the underwater vehicle takes a significant amount of time to reach the object, while increasing this speed increases the risk of “slipping” the object and losing its tracking with the camera.

The closest in technical essence to the claimed (prototype) is a device for controlling an underwater vehicle, protected by RF patent No. 1300809, class. B63H 25/00, 1985.

It contains vertical and horizontal displacement drivers, a rotary mounted camera, propulsion control unit, a camera rotation angle sensor, a detected object, two non-linear functional converters, three keys, three threshold elements, a distance sensor, an electronically controlled switch, three sources of reference signal, two blocks of multiplication, two blocks of division, logical elements NOT and OR and two amplifiers.

The features common to the prototype and the claimed device are the underwater vehicle, the vertical and horizontal displacement engines, the engine control unit, the camera angle sensor, the detected object, the first and second non-linear functional converters, the distance sensor, a key, a threshold element and an electronically controlled switch .

This device provides the ability to switch from automatic control to manual when reducing the distance to the detected object and a corresponding decrease in the speed of approach of the underwater vehicle with the detected object, while maintaining a high speed at large distances. This allows us to provide a generally acceptable time for the approach of the underwater vehicle to the detected object.

The reason that prevents the prototype from achieving the technical result achieved in the invention is the complexity and relatively low reliability of the device due to the large number of elements included in its composition (three keys, three threshold elements, OR or NOT logic elements, two amplifiers, three reference signal sources , two adders, two blocks of multiplication and two blocks of division).

Another reason that impedes the achievement in the prototype of the technical result achieved in the invention is the difficulty of setting up the device and adjusting it during operation, due to the presence of underwater currents. Their presence makes it necessary to switch to manual control and at the same time compensate for the speed of movement of the underwater vehicle horizontally or vertically until the movers stop for a while. These circumstances ultimately reduce the approach speed of the underwater vehicle with the detected object and increase its deviation from the optimal trajectory.

The technical problem to which the invention is directed is to simplify the device and increase its reliability and accuracy.

The technical result is achieved by the fact that in the known device for controlling the underwater vehicle, protected by RF patent No. 1300809, a third non-linear functional converter is additionally introduced, the input of which is connected to the output of the camera angle sensor, and the output to the second signal input of an electronically controlled switch, second the inputs of the first and second nonlinear functional converters are connected to the output of an electronically controlled switch, the output of the first nonlinear functional converter ator connected to the input of the vertical movement of the propulsion unit, the output of the second nonlinear functional inverter connected to the input propulsor horizontal displacement, first and second inverters form a nonlinear functional values proportional respectively to the sine and cosine of the angle of rotation α camera, the proportional coefficients are adjustable.

To achieve a technical result, in a control device for an underwater vehicle containing vertical and horizontal motion propellers, a camera mounted for rotation, an engine control unit, a camera angle sensor, a detected object in the direction of which the camera’s direction is constantly supported, the first and second nonlinear functional converters the inputs of which are connected to the output of the camera angle sensor, and the distance sensor connected in series, a fixed switching key, a threshold element and an electronically controlled switch, one of the signal inputs of which is connected to the output of the drive control unit, the second inputs of the nonlinear functional converters are connected to the output of the electronically controlled switch, the output of the first nonlinear functional converter is connected to the input of the vertical displacement motor, output the second non-linear functional converter is connected to the input of the horizontal displacement mover, in the device a third nonlinear functional converter has been introduced, the input of which is connected to the output of the camera angle sensor, and the output is connected to the second signal input of the electronically controlled switch, while the first and second nonlinear functional converters form proportional proportional to the sine and cosine of the camera rotation angle α, proportionality coefficients are adjustable, and the third non-linear function generator generates a signal U _y propulsion control acc obstacle to the equations:

, $$U_y=\min (U_G^y,U_B^y)$$

,

, $$U_G^y=U_G^{\max }\cdot {({\mathrm{TO}}_G\cdot \cos \alpha )}^{-\mathrm{one}}$$

,

, $$U_B^y=U_B^{\max }\cdot {({\mathrm{TO}}_B\cdot \sin \alpha )}^{-\mathrm{one}}$$

,

и $$U_{Г}^{\max }$$

- входной сигнал движителя горизонтального перемещения и его максимально возможное значение;Where $$U_G^y$$

and $$U_G^{\max }$$

- the input signal of the horizontal mover and its maximum possible value;

и $$U_B^{\max }$$

- входной сигнал движителя вертикального перемещения и его максимально возможное значение; $$U_B^y$$

and $$U_B^{\max }$$

- input signal of the mover of vertical movement and its maximum possible value;

K _G and K _B - gain in the control channels of the engines, respectively, horizontal and vertical movements.

Studies of the inventive device in patent and scientific and technical literature have shown that the totality of the newly introduced third non-linear functional converter and new connections, together with the remaining elements and connections of the device for controlling the underwater object, cannot be independently classified. At the same time, it does not follow explicitly from the prior art. Therefore, the proposed control device underwater object should be considered satisfying the criterion of "novelty" and having an inventive step.

The invention is illustrated in the drawing, which shows a structural diagram of the proposed device for controlling an underwater object.

The device contains installed on the underwater vehicle 1 propellers of vertical 2 and horizontal 3 (longitudinal) movements, a camera 4, rotatable, a sensor 5 of the angle of rotation of the camera, the first 6, second 7 and third 8 non-linear functional converters, block 9 control engines distance sensor 10, manually switched key 11, threshold element 12, electronically controlled switch 13 and detected object 14.

The inputs of the movers 2 and 3 are connected to the outputs of the converters 6 and 7, respectively. The camera 4 is kinematically connected with the sensor 5, the output of which is connected to the first inputs of the transducers 6 and 7 and the input of the converter 8. The second inputs of the transducers 6 and 7 are connected to the output of the switch 13, the first signal input of which is connected to the output of the propulsion control unit 9, and the control input - with the output of the threshold element 12. The sensor 10, the manually switched key 11 and the threshold element 12 are connected in series.

The sensor 5 measures the current angle α of the axis of the camera 4 with respect to the longitudinal axis of symmetry of the underwater vehicle, that is, it determines the direction of the rectilinear motion of the underwater vehicle towards the object 14. In order for the underwater vehicle to carry out this linear movement to the detected object 14, it is necessary that per unit time it moved in the vertical direction by a distance proportional to sinα, and in the horizontal direction by a distance proportional to cosα. Thus, propulsors 2 and 3 must create thrusts proportional to sinα and cosα, respectively. If screw propellers are used, then the rotational speeds of their screws should be proportional to sinα and cosα, respectively.

The Converter 6 generates a signal U _{in the} control of the propulsion 2, proportional to sinα:

, $$U_B=U_y\cdot \sin \alpha \cdot K_B$$

,

where α is the signal from the output of the sensor 5, arriving at the first inputs of the transducers 6 and 7;

U _y - a signal that sets the speed of movement of the underwater vehicle along a rectilinear trajectory to the detected object; this signal comes from the output of the switch 13 to the second inputs of the converters 6 and 7;

To _B - gain in the channel of vertical movement of the underwater vehicle.

Similarly, the Converter 7 generates a signal U _G control propulsion 3, proportional to cosα:

, $$U_G=U_y\cdot \cos \alpha \cdot K_G$$

,

where K _G is the gain in the channel of horizontal (longitudinal) movement of the underwater vehicle.

Converters 6 and 7 are configured to control the numerical values of the coefficients K _B and K _G.

The Converter 8 generates a signal U _y control propulsion in accordance with the equations:

, $$U_y=\min (U_G^y,U_B^y)$$

,

, $$U_G^y=U_G^{\max }\cdot {({\mathrm{TO}}_G\cdot \cos \alpha )}^{-\mathrm{one}}$$

,

, $$U_B^y=U_B^{\max }\cdot {({\mathrm{TO}}_B\cdot \sin \alpha )}^{-\mathrm{one}}$$

,

и $$U_{Г}^{\max }$$

- входной сигнал движителя горизонтального перемещения и его максимально возможное значение;Where $$U_G^y$$

and $$U_G^{\max }$$

- the input signal of the horizontal mover and its maximum possible value;

и $$U_B^{\max }$$

- входной сигнал движителя вертикального перемещения и его максимально возможное значение; $$U_B^y$$

and $$U_B^{\max }$$

- input signal of the mover of vertical movement and its maximum possible value;

K _G and K _B - gain in the control channels of the engines, respectively, horizontal and vertical movements.

Formed by the Converter 8, the control signal U _y is supplied to the second signal input of the switch 13.

, формируемый в ручном режиме с помощью блока 9 управления движителями (датчика команд), представляющего собой рукоятку с потенциометром (или просто набор потенциометров).The control signal is supplied to the first signal input of this switch. $$U_{\mathrm{at}}^{\text{'}\text{'}}$$

, formed in manual mode using the unit 9 of the control of the propulsion (command sensor), which is a handle with a potentiometer (or just a set of potentiometers).

The control of the movers 2 and 3 is carried out using the switch 13. As a rule, at a large distance from the detected object, the control of the movers 2 and 3 is carried out automatically by supplying a control signal U _y from the output of the converter 8 through the second input of the switch 13 to its output and then to the second the inputs of the converters 6 and 7, which form the control signals U _B and U _G , directly supplied to the propulsion devices 2 and 3, respectively. The control input of the switch 13 is affected by the series-connected distance sensor 10, the key 11 and the threshold element 12. The key 11 is manually controlled by the operator. With the key 11 closed, the threshold element 12 receives a signal from the output of the sensor 10 with a level proportional to the measured distance from the underwater vehicle to the detected object. In the process of approaching the underwater vehicle to the detected object, the distance between them decreases so much that the threshold element 12 is triggered, as a result, the signal at the control input of the switch 13 is inverted, and its output is connected to the output of block 9, as a result of which the movers 2 and 3 go over from automatic control on manual from block 9.

It should be noted that in the proposed device, the operator always has the opportunity at any time, if necessary, to switch to manual control, regardless of the distance to the detected object. To do this, you must force open the key 11. In this case, the control circuit of the switch 13 is artificially interrupted, the control signal will take a zero level, and the output of block 9 will automatically be connected to the converters 6 and 7.

In the proposed device, the angle of inclination of the antenna in the direction of the detected object is automatically held, the operator can more accurately take into account underwater currents by adjusting the amplification factors K _G and K _B in the motion control channels within the required limits.

It is easy to see that the proposed device is simpler than the prototype. It has only one non-linear functional converter more than in the prototype, however, it has three times less threshold elements and electronic keys, there are completely no OR, NOT adders, multipliers, multiplication blocks, division blocks, and reference signal sources. The greater simplicity of the device provides it with higher reliability. An approximate calculation shows that the MTBF of the proposed device is 10 ÷ 15% higher than that of the prototype.

The device is quite easy to implement. The newly introduced nonlinear functional converter can be implemented on programmable logic integrated circuits (FPGAs) of the ALTERA company, type MAX 7000. As the remaining elements of the proposed device, the same elements as the corresponding elements of the prototype device can serve.

Claims (1)

A device for controlling an underwater vehicle containing vertical and horizontal displacements, a television camera mounted to rotate in the direction of the detected object and to constantly hold it in this direction, the engine control unit, the camera angle sensor, the first and second nonlinear functional converters, the inputs of which are connected with the output of the camera angle sensor, and series-connected distance sensor, manually switched key, threshold element and electric a throne-controlled switch, one of the signal inputs of which is connected to the output of the propulsion control unit, characterized in that the second inputs of the nonlinear functional converters are connected to the output of the electronically controlled switch, the output of the first nonlinear functional converter is connected to the input of the vertical displacement mover, the output of the second nonlinear functional the transducer is connected to the input of the horizontal displacement mover, the third third An intrinsic functional converter, the input of which is connected to the output of the camera angle sensor, and the output is connected to the second signal input of the electronically controlled switch, the first and second nonlinear functional converters form proportional proportional to the sine and cosine of the camera rotation angle α, while the proportionality coefficients are satisfied adjustable, and the third nonlinear functional Converter generates a signal U _y control propulsion in accordance with the equations:
$$U_y=\min (U_G^y,U_B^y)$$

,
$$U_G^y=U_G^{\max }\cdot {({\mathrm{TO}}_G\cdot \cos \alpha )}^{-\mathrm{one}}$$

,
$$U_B^y=U_B^{\max }\cdot {({\mathrm{TO}}_B\cdot \sin \alpha )}^{-\mathrm{one}}$$

,
Where $$U_G^y$$

and $$U_G^{\max }$$

- the input signal of the horizontal mover and its maximum possible value;
$$U_B^y$$

and $$U_B^{\max }$$

- input signal of the mover of vertical movement and its maximum possible value;
K _G and K _B - gain in the control channels of the engines, respectively, horizontal and vertical movements.