CN-121990144-A - Vertical plane navigation attitude control method for variable-mass submarine

CN121990144ACN 121990144 ACN121990144 ACN 121990144ACN-121990144-A

Abstract

The invention belongs to the technical field of control of a submarine, and particularly relates to a vertical plane navigation attitude control method for a variable-quality submarine, which can effectively maintain a depth control attitude, reduce energy consumption and improve navigation range and is beneficial to exerting optimal maneuvering performance and maneuvering performance of the submarine. Aiming at the problems of increased sailing resistance, increased energy consumption, increased depth control error and shortened range of sailing pitch angle and rudder angle caused by factors of fuel consumption, sea water temperature, salinity change and large-range depth change of the submarine, the invention can effectively maintain the depth control attitude, reduce the energy consumption and improve the range, and is beneficial to exerting the optimal maneuvering performance and maneuvering performance of the submarine. According to the invention, the buoyancy balance control strategy is combined with the navigation control, so that the depth control gesture is kept, the energy consumption of the vertical plane navigation control is obviously reduced, the control precision is obviously improved, and the optimal maneuvering performance and maneuvering performance of the submarine are brought into play.

Inventors

ZHOU XINLI
HU QINGYU
LIU LAILIAN
CUI FENG

Assignees

宜昌测试技术研究所

Dates

Publication Date: 20260508
Application Date: 20251230

Claims (7)

1. A vertical plane navigation attitude control method for a variable-mass submarine is characterized by comprising the following steps: The main propeller of the underwater vehicle is controlled by the navigation controller, so that the navigational speed control of the underwater vehicle is realized; The horizontal rudder of the underwater vehicle is controlled by the navigation controller, so that the depth and pitch angle of the underwater vehicle are controlled; The buoyancy comprehensive control strategy at least comprises a thermal-salt-depth (CTD) detection algorithm for detecting the density change of the sea water based on a CTD sensor, a sailing posture detection algorithm for estimating net buoyancy based on the sailing posture on line and a fuel engine estimation algorithm for estimating weight loss based on fuel consumption, and the sailing controller is used for switching and combining the three algorithms according to sailing states and conditions.
2. The method for controlling the attitude of a variable-mass submarine according to claim 1, wherein said controlling the buoyancy adjusting device by a buoyancy integrated control strategy comprises: When the CTD sensor detects that the sea water density changes, a CTD detection algorithm is preferentially started, and the navigation controller calculates a corresponding buoyancy change according to the sea water density change and controls the bow and stern buoyancy adjusting devices to execute water injection or drainage actions; When the CTD sensor does not detect the density change of the sea water and the pitch angle and rudder angle of the submarine are larger than the set threshold, if the submarine is in a constant speed, depth-fixing and course-fixing angle state and the navigational speed is in a preset range, starting the navigational gesture detection algorithm, estimating the net buoyancy and the buoyancy moment on line, and controlling the action of the buoyancy adjusting device according to the estimated quantity; When the CTD sensor does not detect the density change of the sea water and the submarine does not meet the conditions of constant speed, depth setting, course setting angle or navigational speed exceeding the preset range, starting the gas turbine estimation algorithm, estimating the weight loss according to the fuel consumption, and controlling the action of the buoyancy regulating device according to the weight loss.
3. The vertical plane navigational attitude control method for a variable mass submarine according to claim 2, wherein said navigational attitude detection algorithm specifically comprises: establishing a vertical plane force and moment balance equation of the submarine under the constant-speed, constant-depth and constant-heading angle state; based on the balance equation, according to the rudder angle and the pitch angle which are currently measured, the residual buoyancy and the residual buoyancy moment of the submarine are obtained through on-line calculation; and calculating the water injection and drainage quantity required to be regulated by the bow and stern water tanks according to the residual buoyancy and the residual buoyancy moment, and sending a command to control the buoyancy regulating device to execute.
4. The vertical plane navigational attitude control method for a variable mass submarine according to claim 2, wherein said preset navigational speed range is greater than 3 knots and less than 20 knots.
5. The vertical plane navigational attitude control method for a variable mass submarine according to any one of claims 1 to 4, further comprising: After buoyancy compensation is carried out through the buoyancy adjusting device, continuously monitoring the pitch angle and the rudder angle of the submarine under the states of constant speed, constant depth and constant course angle; and when the pitch angle and the rudder angle are reduced to be within the set threshold range, judging that the submarine reaches a static equilibrium state, and controlling the buoyancy regulating device to stop acting.
6. The vertical plane navigational attitude control method for a variable mass submarine according to claim 2, wherein after executing the fuel-machine estimation algorithm to perform buoyancy compensation, when the submarine reenters a constant speed, depth-fixed, heading angle state and navigational speed is within a preset range, switching to the navigational attitude detection algorithm to re-estimate and fine tune the buoyancy.
7. The vertical plane navigation attitude control method for the variable-mass submarine according to claim 1, wherein the depth and pitch angle control adopts a cascade control mode, an outer ring depth controller calculates a required pitch angle command according to the deviation between a depth command and a current depth value, and an inner ring pitch angle controller calculates a required rudder angle command according to the deviation between the pitch angle command and the current pitch angle value and is executed by a steering engine.

Description

Vertical plane navigation attitude control method for variable-mass submarine Technical Field The invention belongs to the technical field of control of submarines, and particularly relates to a vertical plane navigation attitude control method for a variable-quality submarines. Background The submarine has wide application in civil and military fields such as ocean resource development, hydrological measurement, underwater investigation, underwater combat and the like, and develops towards a large-depth and long-range direction. The power system of the large-sized variable-mass submarine combines electric power and thermal power and aims to meet the requirement of extremely long voyage in thousands or even tens of thousands of seas. However, in the long-range variable-mass submersible vehicle during a long-endurance sailing mission, the static equilibrium state of the submersible vehicle is changed along with the sea water density change caused by fuel consumption, sea water temperature, salinity change and depth change in a large range. External force and external moment caused by certain pitch angle and rudder angle balance buoyancy change are needed correspondingly, so that sailing resistance is increased, energy consumption is increased, depth control error is increased, sailing distance is shortened, and operability, maneuverability, safety, concealment and energy conservation of the submarine are not facilitated. Therefore, optimizing the navigational attitude with respect to the navigational characteristics of the variable-mass underwater vehicle is one of the key technologies of reducing energy consumption and improving range. At present, large-scale submarines with long voyages are all provided with buoyancy adjusting devices, but are influenced by various complex factors such as sea water density change, self deformation and the like caused by the fuel consumption of the submarines, sea water temperature, salinity change and large-scale depth change of the cross-sea area, and the problems of energy consumption increase and voyage shortening caused by voyage posture change cannot be well and comprehensively solved. Disclosure of Invention In view of the above, the invention provides a vertical plane navigation attitude control method for a variable-mass submarine, which can effectively maintain a depth control attitude, reduce energy consumption and improve voyage, and is beneficial to exerting optimal maneuvering performance and maneuvering performance of the submarine. In order to achieve the purpose of the invention, the following technical scheme is provided. A vertical plane navigation attitude control method for a variable-mass submarine comprises the following steps: The main propeller of the underwater vehicle is controlled by the navigation controller, so that the navigational speed control of the underwater vehicle is realized; The horizontal rudder of the underwater vehicle is controlled by the navigation controller, so that the depth and pitch angle of the underwater vehicle are controlled; The buoyancy comprehensive control strategy at least comprises a thermal-salt-depth (CTD) detection algorithm for detecting the density change of the sea water based on a CTD sensor, a sailing posture detection algorithm for estimating net buoyancy based on the sailing posture on line and a fuel engine estimation algorithm for estimating weight loss based on fuel consumption, and the sailing controller is used for switching and combining the three algorithms according to sailing states and conditions. Wherein, the buoyancy adjusting device is controlled through the buoyancy comprehensive control strategy, and specifically comprises: When the CTD sensor detects that the sea water density changes, a CTD detection algorithm is preferentially started, and the navigation controller calculates a corresponding buoyancy change according to the sea water density change and controls the bow and stern buoyancy adjusting devices to execute water injection or drainage actions; When the CTD sensor does not detect the density change of the sea water and the pitch angle and rudder angle of the submarine are larger than the set threshold, if the submarine is in a constant speed, depth-fixing and course-fixing angle state and the navigational speed is in a preset range, starting the navigational gesture detection algorithm, estimating the net buoyancy and the buoyancy moment on line, and controlling the action of the buoyancy adjusting device according to the estimated quantity; When the CTD sensor does not detect the density change of the sea water and the submarine does not meet the conditions of constant speed, depth setting, course setting angle or navigational speed exceeding the preset range, starting the gas turbine estimation algorithm, estimating the weight loss according to the fuel consumption, and controlling the action of the buoyancy regulating device according to the weight loss. The navigation posture