RU2785260C1 - Motion control device for autonomous unmanned underwater vehicle - Google Patents

Abstract

FIELD: motion control devices.

SUBSTANCE: invention relates to motion control devices for autonomous uninhabited underwater vehicles, namely to control devices using information from sensors of kinematic parameters and hydrostatic pressure sensors. The control device uses a linear acceleration measurement unit, an angular velocity measurement unit, a pressure sensor built on microelectromechanical digital sensors, a calculation unit consisting of three microcontrollers, an interface unit with the main and backup information transmission lines, and a power supply unit.

EFFECT: time of functional readiness for the implementation of underwater object control algorithms is reduced, power consumption is reduced, noise immunity is increased.

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Description

The invention relates to motion control devices for autonomous uninhabited underwater vehicles (AUVs), namely to control devices using information from sensors of kinematic parameters and hydrostatic pressure sensors. The device can be used in AUVs designed to explore the bottom area, search and rescue operations, production work, destruction of moving and stationary objects.

There are analogues of these devices used in AUVs. They contain a pressure sensor to determine the depth of the AUV, accelerometers, gyroscopes to determine the angular velocities, linear accelerations. The measurement results of these sensors are sent to the computer, which generates commands to shift the horizontal and vertical rudders of the underwater vehicle for further correction of the movement along the course (ψ), roll (ϕ) and trim (θ) [1, 2, 3, 5].

As a prototype, a device based on a block of control devices 2606.000.107 [4] was chosen, which performs these functions in the AUV. In FIG. 1 shows a functional diagram of the prototype. The device consists of an analog unit for measuring linear accelerations (1), an analog unit for measuring angular velocity (2), an analog pressure sensor (3), a calculation unit (4) based on a single-board computer, an interface unit (5) with a transceiver with one information transmission line , power supplies (6), filter unit (7), analog-to-digital conversion unit (8).

The outputs of the unit for measuring linear accelerations (1), the unit for measuring angular velocity (2), the pressure sensor (3) are connected to the input of the filter unit (7), the output of the filter unit (7) is connected to the input of the analog-to-digital conversion unit (8), the output analog-to-digital conversion unit (8) is connected to the input of the unit with the input of the calculation unit (4), the output of the calculation unit (4) is connected to the input of the interface unit (5) for exchanging information with the actuators of the AUV, power supplies (6) are connected to the unit measurement of linear accelerations (1), with an angular velocity measurement unit (2), with a pressure sensor (3), with a calculation unit (4), with an interface unit (5), with an analog-to-digital conversion module (8).

The unit for measuring linear accelerations (1) and the unit for measuring angular velocities (2) measure and output in analog form information about the angular velocities ω _x , ω _x1 , ω _y , ω _z and linear accelerations a _x , a _y , a _z AUV.

The pressure sensor (3) is used to measure and output the value of hydrostatic pressure at the AUV submersion depth in analog form.

The calculation unit (4) is the central computing unit of the control instrumentation unit, which performs:

- receiving and storing information from external subscribers, broadcasting it to AUV units according to their affiliation;

- calculation of specified settings for the implementation of the autonomous movement program;

- calculation of kinematic parameters of movement (depth, heading, roll, trim, etc.) according to the measured information;

- formation of control signals for the actuators of the steering drive (RP) using information about the specified and current values of the kinematic parameters of movement;

- development of the necessary information for all AUV systems;

- obtaining the necessary information from all AUV systems;

- Reception and development of one-time commands.

The interface unit serves to organize the exchange between the calculation unit (4) and the AUV actuating devices via the information transmission line.

Power supplies (6) are used to power the unit for measuring linear accelerations (1), the unit for measuring angular rates (2), the pressure sensor (3), the calculation unit (4), the interface unit (5), the analog-to-digital conversion module (8) .

The filter block (7) is used to filter and amplify the signals coming from the angular velocity measurement unit, the linear acceleration measurement unit and the pressure sensor.

The analog-to-digital conversion unit (8) converts analog signals into digital form and transfers them to the calculation unit (4) for further processing.

The prototype device, as well as analogues, has a number of disadvantages, namely:

- reduced shock resistance and vibration resistance of sensitive elements as part of an analog unit for measuring angular velocities;

- due to the design features (application of a gas-dynamic support) to increase the bearing capacity of dynamically tuned gyroscopes (DNG), which are used in the angular velocity measurement unit, the required minimum time for readiness for operation is 2 s, which imposes some restrictions on the time the underwater vehicle leaves the launcher installations;

- due to the occurrence of "dry friction" in the DNG, restrictions are imposed on the number of DNG operation cycles;

- information about the kinematic parameters of the movement of the product from the block for measuring angular rates and the block for measuring linear accelerations is output in analog form and needs subsequent filtering and digital conversion, which worsens the noise immunity and reliability of the MCR as a whole, and also reduces the onboard space;

- the need to provide the block for measuring angular speeds and the block for measuring linear accelerations with electric power of various values with filtering, provides for the use of a number of power sources with appropriate filters in the power supplies of the MCR, which also leads to a deterioration in the noise immunity and reliability of the MCR;

- long time to start the calculation block - 7 s.

To eliminate these shortcomings, it is necessary:

- reduce the time of functional readiness of the device for operation;

- increase the noise immunity of the device;

- reduce the power consumption of the device.

To achieve the goals set, the device shown in Fig. 2, which uses a linear acceleration measurement unit (1), an angular velocity measurement unit (2), a pressure sensor (3), built on microelectromechanical digital sensors, a calculation unit (4), consisting of three microcontrollers (4.1, 4.2 and 4.3) , interface unit (5) with the main and backup transmission lines, power supplies (6).

Essential features characterizing the invention.

Limiting: AUV motion control device, contains a unit for measuring linear accelerations (1), a unit for measuring angular rates (2), a pressure sensor (3), a calculation unit (4) connected to an interface unit (5), the signal from which enters the executive motion control devices for an autonomous uninhabited underwater vehicle, a power supply unit (6) connected to a linear acceleration measurement unit (1), an angular velocity measurement unit (2), a pressure sensor (3), a calculation unit (4), an interface unit (5).

Distinctive:

1. As a block for measuring linear accelerations (1), a block for measuring angular rates (2) and a pressure sensor (3), microelectromechanical digital sensors are used, the outputs of which are connected to the calculation block (4).

2. The calculation unit (4) is made in the form of three microcontrollers (4.1, 4.2 and 4.3), the first microcontroller (4.1) receives a digital signal from the linear acceleration measurement unit (1), the digital signal from the first microcontroller (4.1) enters the third microcontroller (4.3), the second microcontroller (4.2) receives a digital signal from the angular velocity measurement unit (2), the digital signal from the second microcontroller (4.2) enters the third microcontroller (4.3), the third microcontroller (4.3) receives a digital signal from the pressure sensor (3), the digital signal from the third microcontroller (4.3) is fed to the interface unit (5).

3. The interface unit (5) is made in the form of identical transceivers (5.1 and 5.2) to the input of which signals are received from the output of the calculation unit (4), the signals from the outputs of the transceivers (5.1 and 5.2) are sent to the actuating devices for controlling the movement of an autonomous uninhabited underwater vehicle along main and backup information transmission lines.

The motion control device for an autonomous uninhabited underwater vehicle operates as follows:

Data on the kinematic parameters of angular velocities (ω _x , ω _y , ω _z ) and linear accelerations (a _x , a _y , a _z ) are formed in the linear acceleration measurement unit (1) and the angular velocity measurement unit (2), which are then in digitally read by microcontrollers (4.1 and 4.2). In the block for measuring linear accelerations (1) and the block for measuring angular velocities (2), MEMS gyroscopes of the Gyro100-300 type [6] and MEMS accelerometers of the AS200-30 type [7] can be used. Microcontrollers (4.1 and 4.2) transmit the current values of the kinematic parameters to the microcontroller (4.3). Microcontrollers of the K1986BE1QI type [8] can be used as microcontrollers. The pressure sensor (3) measures the hydrostatic pressure (P) proportional to the depth of travel and digitally transmits it to the microcontroller (4.3). A digital pressure transducer of the IZMERKON DI-33 type [9] can be used as a pressure sensor. The microcontroller (4.3), according to the accepted kinematic and hydrostatic parameters, generates control signals that enter the interface unit (5) at the input of the transceiver (5.1) of the main information transmission line or at the input of the transceiver (5.2) of the backup information transmission line, which allows continuous data exchange in case of failure of one of the transmission lines. The interface unit can be built on transceivers of the 2011ВВ034 type using the CAN protocol [10]. Further, the transceiver (5.1) or transceiver (5.2) ensures the exchange of the microcontroller (4.3) with the AUV actuators for further adjustment of the movement along the course (ψ), roll (ϕ) and trim (θ). The power supply units (6) provide power to the linear acceleration measurement unit (1), the angular velocity measurement unit (2), the pressure sensor (3), the calculation unit (4) and the interface unit (5).

The technical result of the present invention is to reduce the time of functional readiness to 1 s, reduce power consumption through the use of microelectronic devices, increase noise immunity due to the transition to a digital element base and avoid the use of power supplies and filters with different ratings, increase the reliability of the data exchange interface due to the use of channel reservation, as well as the reduction of onboard space.

Sources of information

1. Fundamentals of torpedo dynamics. Edited by Skobov D.P. Book two. - L: Sudpromgiz, 1964.

2. RF patent No. 188509. Block of control devices for uninhabited underwater vehicles. IPC B63G 8/00. Appl. 04.09. 2018, publ. 04/16/2019.

3. Yu.A. Bozhenov, A.P. Borkov, V.M. Gavrilov, Yu.I. Zhukov, I.B. Ikonnikov, I.V. Postnikov, V.I. Filippov D.N. Self-propelled uninhabited underwater vehicles. - Leningrad: Shipbuilding, 1986. - 264 p.

4. Block of control devices 2606.000.107TO. Technical description. St. Petersburg: ed. JSC Concern MPO-Gidropribor, 2010. - 120 p.

5. Underwater Marine Weapons. Scientific and technical collection, 9. - St. Petersburg: ed. JSC Concern MPO-Gidropribor, 2007. - 52 p.

6. MEMS Gyroscope Gyro 100-300. technical manual. - Wuxi: ed. Wuxi Bewis Sensing Technology LLC, 2020. - 7 p.

7. MEMS Accelerometer AS200-30. Technical Manual [Text]. - Wuxi: ed. Wuxi Bewis Sensing Technology LLC, 2020. - 7 p.

8. Chip of a 32-bit microcomputer with an Ethernet interface TSKYA.431296.008SP. Specification. - Zelenograd: ed. PKK Milandr JSC, 2020. - 451 p.

9. Measuring pressure transducers IZMERKON SD2.832.097 RE. Manual. - St. Petersburg: ed. CJSC "Timos", 2017. - 49 p.

10. Microassembly of a transceiver according to the CAN standard with galvanic isolation TSKYA.431323.016-02SP. Specification. - Zelenograd: ed. PKK Milandr JSC, 2020. - 19 p.

Claims (3)

1. A motion control device for an autonomous uninhabited underwater vehicle, containing a linear acceleration measurement unit (1), an angular velocity measurement unit (2), a pressure sensor (3), a calculation unit (4) connected to an interface unit (5), the signal from which enters the actuators for controlling the motion of an autonomous uninhabited underwater vehicle, a power supply unit (6) connected to a linear acceleration measurement unit (1), an angular velocity measurement unit (2), a pressure sensor (3), a calculation unit (4), an interface unit ( 5), characterized in that microelectromechanical digital sensors are used as the unit for measuring linear accelerations (1), the unit for measuring angular rates (2) and the pressure sensor (3), the outputs of which are connected to the calculation unit (4). 2. The device according to claim 1, characterized in that the calculation unit (4) is made in the form of three microcontrollers (4.1, 4.2 and 4.3), the first microcontroller (4.1) receives a digital signal from the linear acceleration measurement unit (1), a digital signal from the first microcontroller (4.1) goes to the third microcontroller (4.3), the second microcontroller (4.2) receives a digital signal from the angular velocity measurement unit (2), the digital signal from the second microcontroller (4.2) goes to the third microcontroller (4.3), to the third the microcontroller (4.3) receives a digital signal from the pressure sensor (3), the digital signal from the third microcontroller (4.3) arrives at the interface unit (5). 3. The device according to claim 1, characterized in that the interface unit (5) is made in the form of identical transceivers (5.1 and 5.2), the input of which receives signals from the output of the calculation unit (4), signals from the outputs of the transceivers (5.1 and 5.2) come to the actuating devices for controlling the movement of an autonomous uninhabited underwater vehicle through the main and backup information transmission lines.

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