CN-121995931-A - Asymmetric head-tail X-rudder AUV motion control method and system

CN121995931ACN 121995931 ACN121995931 ACN 121995931ACN-121995931-A

Abstract

The invention discloses an AUV motion control method and system of an asymmetric head-tail X rudder, wherein the method comprises the steps of obtaining the current depth, pitch angle, horizontal position and course angle of the AUV, respectively calculating depth, pitch angle, horizontal position and course control quantity through independent control channels based on target values and current values of various degrees of freedom, mapping and distributing the control quantity to X-shaped rudder surfaces at the head and tail of the AUV through a preset rudder angle distribution strategy to generate corresponding rudder angle instructions, and finally driving a rudder surface executing mechanism to realize cooperative and accurate control of the AUV on the depth, the horizontal position, the pitch angle and the course. According to the invention, through the independent control channel and decoupled rudder angle distribution, the AUV configured with the asymmetric head-tail rudders can realize independent and cooperative control over a plurality of degrees of freedom in a wide speed range, especially under a medium-high speed working condition, and the steering performance and task adaptability are effectively improved.

Inventors

TANG WENZHENG
PENG AJING
LIU BINGYUAN
GAO CHENGXIN
WANG QINGHUA

Assignees

宜昌测试技术研究所

Dates

Publication Date: 20260508
Application Date: 20251229

Claims (8)

1. The asymmetrical head-tail rudder AUV motion control method is characterized by comprising the following steps of: Acquiring current motion state information of an AUV, wherein the motion state information at least comprises depth, pitch angle, horizontal position and course angle; Based on the preset target value of each degree of freedom and the corresponding current motion state information, respectively calculating to obtain independent control amounts of each degree of freedom through mutually independent control channels, wherein the independent control amounts at least comprise depth control amounts, pitching control amounts, horizontal position control amounts and heading control amounts; Mapping and distributing the calculated independent control quantity to each control surface of an X-type rudder arranged at the head and the tail of the AUV through a preset rudder angle distribution strategy to generate a corresponding head rudder angle instruction and a corresponding tail rudder angle instruction; And driving a corresponding control surface executing mechanism according to the head rudder angle instruction and the tail rudder angle instruction to realize cooperative control of AUV depth, horizontal position, pitching and heading.
2. The asymmetric head-to-tail rudder AUV motion control method of claim 1, wherein the mutually independent control channels include a depth control channel, a pitch control channel, a horizontal position control channel, and a heading control channel.
3. The asymmetric head-to-tail rudder AUV motion control method of claim 1 or 2, wherein the preset rudder angle allocation strategy comprises: The depth control quantity and the horizontal position control quantity are used as the input of a virtual head cross rudder, and are converted into a linkage rudder angle instruction of an actual head X-shaped rudder through a first rudder angle distribution matrix; And taking the pitching control quantity and the heading control quantity as the input of the virtual tail cross rudder, and converting the virtual tail cross rudder into a linkage rudder angle instruction of the actual tail X-shaped rudder through a second rudder angle distribution matrix.
4. The method for controlling the movement of the asymmetrical head-to-tail rudder AUV according to claim 3, wherein the first rudder angle distribution matrix and the second rudder angle distribution matrix have the same structure, and are transformation matrices for converting two orthogonal rudder angle control amounts of the virtual cross rudder into a pair of diagonal linkage rudder angle control amounts.
5. The asymmetric head-to-tail rudder AUV motion control method of claim 4, wherein the rudder angle distribution matrix is specifically: The matrix is input into two orthogonal rudder angle control amounts of the virtual cross rudder, and the matrix is output into a rudder angle instruction of the pair of symmetrical linkage rudders.
6. The asymmetrical head-tail rudder AUV motion control method of claim 3, wherein a horizontal rudder angle control amount of the virtual head rudder is determined by the depth control amount, a vertical rudder angle control amount thereof is determined by the horizontal position control amount, a horizontal rudder angle control amount of the virtual tail rudder is determined by the pitch control amount, and a vertical rudder angle control amount thereof is determined by the heading control amount.
7. The asymmetrical head-to-tail rudder AUV motion control method according to claim 1 or2, wherein in each control channel, the independent control amount is calculated using a PID control algorithm based on a deviation of a target value of the corresponding degree of freedom from a current value.
8. An asymmetrical head-to-tail rudder AUV motion control system, comprising: the sensor unit is used for acquiring current motion state information of the AUV; A controller configured to execute the control method according to any one of claims 1 to 7, generating a rudder angle instruction; an actuator including a main propulsion, a leading X-rudder and a trailing X-rudder for manipulating AUV motion in response to the rudder angle command.

Description

Asymmetric head-tail X-rudder AUV motion control method and system Technical Field The invention belongs to the technical field of autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV) control, and particularly relates to an asymmetric head-tail rudder AUV motion control method and system. Background Autonomous underwater robots (AUVs) are important tools for performing marine exploration, scientific investigation, engineering operations, and military applications. When performing tasks underwater, the AUV needs to implement precise motion control, including depth control, horizontal plane position control, pitch attitude control, heading control, and the like, which requires its ability to manipulate multiple degrees of freedom, such as heave, roll, pitch, yaw, and the like. Currently, in order to realize the motion control, the configuration and control modes of the common execution mechanism of the AUV mainly comprise the following types: The main propeller plus tail vane configuration is the most conventional configuration. The main propeller is used for providing forward power (heave control), and the control surface (usually a cross rudder or an X rudder) at the tail part is used for generating bow turning moment and pitching moment, so that rough control of heading and pitching is realized. However, this configuration is typical of under-actuated systems. The fundamental disadvantage is that it cannot control all degrees of freedom independently and simultaneously. For example, it is difficult to stabilize the pitch angle to any desired value when the depth control is performed, and the course angle cannot be independently adjusted to any angle at the same time when the horizontal position tracking is performed, so that the control coupling is strong and the flexibility is seriously insufficient. Main push plus auxiliary push (vertical push/side push) configuration to overcome underdrive problems, some AUVs are additionally equipped with auxiliary thrusters, such as vertical thrusters (vertical push) and lateral thrusters (side push). This arrangement provides good direct force control at low speed or hover and thus allows independent handling of heave, roll and yaw. However, the scheme has two remarkable defects that firstly, the propulsion efficiency of the auxiliary propeller is rapidly reduced along with the increase of the forward navigational speed of the AUV, so that the maneuvering performance is greatly deteriorated or even fails under the middle-high speed navigational working condition, and secondly, a channel formed for mounting auxiliary propulsion can damage the streamline appearance of the ship body, increase navigational resistance and further seriously influence the cruising ability of the AUV. A head horizontal rudder (or head rudder) is provided-some AUVs incorporate a horizontal rudder in the head to improve depth and pitch control. This enhances the ability to control heave and pitch degrees of freedom. But this configuration still does not provide direct control over the degree of freedom of sway. If a vertical rudder is further installed on the head to try to obtain the yaw or heading control capability, mechanical interference with related devices may occur when the AUV performs operations such as bottom docking, deployment and recovery, which may bring operational risks and design complexity. In summary, various AUV actuator configuration schemes in the prior art have certain limitations, either cannot meet the requirement of independent and cooperative control of multiple degrees of freedom, or have inherent defects in efficiency, resistance or structural interference. Therefore, a new control method and a corresponding configuration scheme of an actuating mechanism are urgently needed, and the cooperative precise control of depth, horizontal position, pitch and heading can be efficiently and decouplely realized in a wider navigational speed range (particularly in medium-high speed working conditions) on the premise of not obviously sacrificing the hydrodynamic performance of the AUV. Disclosure of Invention In view of this, the invention provides a method and a system for controlling the movement of an AUV with an asymmetric head-tail rudder, which is configured to enable the AUV to have the maneuverability of degrees of freedom such as heave, roll, pitch, yaw and the like, and design a control strategy to realize the control of depth, horizontal position, pitch and heading. The technical scheme for realizing the invention is as follows: An asymmetrical head-tail rudder AUV motion control method comprises the following steps: Acquiring current motion state information of an AUV, wherein the motion state information at least comprises depth, pitch angle, horizontal position and course angle; Based on the preset target value of each degree of freedom and the corresponding current motion state information, respectively calculating to obtain independent control amo