CN-122009455-A - Water-air mode switching propulsion control system and method for ion propulsion type water-air dual-purpose ship

CN122009455ACN 122009455 ACN122009455 ACN 122009455ACN-122009455-A

Abstract

The invention discloses a water-air mode switching propulsion control system and method of an ion propulsion type water-air dual-purpose ship, comprising a plurality of groups of rotatable ion propulsion generating devices and a control system, wherein the plurality of groups of rotatable ion propulsion generating devices are symmetrically arranged at two sides or the bottom of a ship body and are connected with the ship body through a hinged rotating mechanical structure, the control system integrates a gesture sensor group, an environment sensing sensor group, a main controller and a communication module, and the control system realizes stable switching between water surface and air flight modes through three layers of cooperative control logics of stepped gesture adjustment, dynamic matching of propulsion parameters of medium adaptation and PID closed-loop gesture cooperative control by combining transitional buffering, fault redundancy and energy optimization strategies. According to the invention, through three-layer logic of stepwise posture adjustment, dynamic matching of propulsion parameters of medium adaptation and PID closed-loop posture cooperative control, the stable and efficient switching of the water-air mode is realized by combining transitional buffering, fault redundancy, energy optimization and stealth optimization strategies.

Inventors

CHEN XIN
WU ZHENGYUN
CUI JIE
Bin Ziyan
QU ZHAOYU

Assignees

江苏科技大学

Dates

Publication Date: 20260512
Application Date: 20260302

Claims (10)

1. A water-air mode switching propulsion control system of an ion propulsion type water-air dual-purpose ship is characterized by comprising a plurality of groups of rotatable ion propulsion generating devices and a control system, wherein the plurality of groups of rotatable ion propulsion generating devices are symmetrically arranged on two sides or the bottom of a ship body and are connected with the ship body through a hinged rotating mechanical structure, a gesture sensor group, an environment sensing sensor group, a main controller and a communication module are integrated into the control system, and the control system realizes stable switching of a water surface navigation and air flight mode by combining transition buffering, fault redundancy and an energy optimization strategy through three-layer cooperative control logic of step gesture adjustment, medium-adaptive propulsion parameter dynamic matching and PID closed-loop gesture cooperative control.
2. A water-air mode switching propulsion control method for an ion propulsion type water-air dual-purpose ship suitable for the water-air mode switching propulsion control system as claimed in claim 1, characterized by comprising the following steps: s1, mode triggering judgment, namely receiving a mode switching instruction actively input by a user through a communication module, or automatically judging that a switching target is a water surface navigation mode or an air flight mode through a ship body draft, airspace air pressure and obstacle ranging environment sensing signal acquired by an environment sensing sensor group; S2, posture adjustment of the propulsion device, namely, the main controller sends an angle control instruction to the rotary mechanical structure, drives the ion propulsion generating device to rotate around the hinge shaft, and adjusts the spraying direction to a posture matched with a target mode; S3, dynamic matching of propulsion parameters, namely dynamically adjusting ion injection intensity and injection vector distribution proportion of the ion propulsion generating device according to fluid characteristics of a target mode, wherein a water surface navigation mode is adaptive to water medium resistance characteristics, and an air flight mode is adaptive to air medium pneumatic resistance characteristics; S4, attitude cooperative closed-loop control, namely synchronously adjusting output parameters of a plurality of groups of ion propulsion generating devices by adopting a PID closed-loop control algorithm in combination with real-time attitude angle and angular speed signals of the ship body fed back by the attitude sensor group.
3. The method for controlling the water-air mode switching propulsion of the ion propulsion type water-air dual-purpose ship according to claim 2, wherein the mode switching instruction comprises at least one of a remote controller manual input instruction, a ground station APP remote instruction and a preset task trigger instruction, the environment sensing signal comprises at least one of a draft signal acquired by a draft sensor, an airspace air pressure signal acquired by an air pressure altimeter and an obstacle ranging signal acquired by a laser radar, and when the environment sensing signal meets a preset threshold value, the main controller automatically triggers mode switching.
4. The method for controlling the switching propulsion of the water-air mode of the ion propulsion type water-air dual-purpose ship according to claim 3, wherein the preset threshold value is a draft <5cm triggering flight mode, an airspace obstacle distance <10m triggering obstacle avoidance mode switching, a flight height <2m and a draft greater than or equal to 10cm triggering water surface mode.
5. The method for controlling the switching propulsion of the ion propulsion type water-air dual-purpose ship according to claim 2, wherein the dynamic matching of the propulsion parameters in the water surface navigation mode specifically comprises: a. Adjusting the jet direction of the ion propulsion generating device to be a horizontal backward posture parallel to the longitudinal axis of the ship body or a downward inclined horizontal backward posture; b. dynamically adjusting the injection intensity according to the real-time draft fed back by the draft sensor; c. And adjusting the jet intensity difference of the ion propulsion generating devices at two sides of the ship body by combining the gravity center position of the ship body, wherein if the gravity center shifts to one side, the jet intensity at the side is increased, and the jet intensity at the other side is correspondingly reduced.
6. The method for controlling the switching propulsion of the ion propulsion type water-air dual-purpose ship according to claim 2, wherein the dynamic matching of the propulsion parameters in the air flight mode specifically comprises: a. the hovering state adjusts the spraying direction to be vertical upwards, and the forward flying state is adjusted to be inclined upwards with the horizontal plane; b. Dynamically adjusting the injection vector difference according to the real-time attitude angle fed back by the attitude sensor group; c. and adjusting the total jet intensity in real time based on the airspace air pressure signal, and maintaining the fly height of the ship body stable.
7. The method for controlling the switching propulsion of the water-air mode of the ion propulsion type water-air dual-purpose ship according to claim 2, further comprising a transition mode buffer for realizing smooth transition of the water-air mode, specifically: a. The water surface-flight mode switching, namely gradually lifting the injection direction from horizontal to backward to incline, and simultaneously lifting the injection intensity to a design value to enter a transition buffering stage, when the draft sensor detects that the draft is 0, adjusting the injection direction to be vertical and upward, lifting the injection intensity to 100%, and entering a stable flight mode; b. And when the ship body contacts the water surface and the draft depth is stabilized above 10cm, switching to the propulsion parameter of the water surface navigation mode.
8. The method for controlling the water-air mode switching propulsion of the ion propulsion type water-air dual-purpose ship according to claim 2, further comprising fault redundancy control, specifically: a. Detecting working current of each group of ion propulsion generating devices in real time through a current sensor, and judging that the device fails when the current deviates from rated current by +/-20%; b. The control system automatically adjusts the injection vector distribution proportion of the other normal propulsion devices, and compensates the thrust loss of the fault device by adjusting the injection direction; c. the propulsion safety of the current mode is preferentially ensured under the fault state, namely the horizontal propulsion capability is preferentially maintained under the water surface mode, and the lift balance is preferentially maintained under the flight mode.
9. The method for controlling the water-air mode switching propulsion of the ion propulsion type water-air dual-purpose ship according to claim 2, further comprising energy management optimization, in particular: a. Calculating the required instantaneous energy according to the mode switching time and the injection intensity through an energy consumption prediction model; b. Dynamically adjusting output parameters of the lithium ion battery pack to meet instantaneous power requirements; c. And the energy consumption prediction model is combined to optimize the energy distribution, so that the energy consumption in the mode switching process is reduced by more than 15%.
10. The method for controlling the water-air mode switching propulsion of the ion propulsion type water-air dual-purpose ship according to claim 2, wherein in the step S4, the angular velocity feedback of the attitude sensor group is used as input, and the injection parameters of the ion propulsion generating device are adjusted in real time, so that the fluctuation range of the attitude of the ship body in the mode switching process is satisfied that the fluctuation of a pitch angle is less than 2 degrees, the fluctuation of a roll angle is less than 1.5 degrees and the fluctuation of a yaw angle is less than 3 degrees.

Description

Water-air mode switching propulsion control system and method for ion propulsion type water-air dual-purpose ship Technical Field The invention relates to a water-air mode switching propulsion control system and a water-air mode switching propulsion control method, in particular to a water-air mode switching propulsion control system and a water-air mode switching propulsion control method for an ion propulsion type water-air dual-purpose ship. Background The water-air dual-purpose ship is used as a novel amphibious carrying platform with the water surface navigation and air flight capabilities, and the application requirements in the military and civil fields are continuously increased. The existing water-air dual-purpose ship has the technical bottlenecks that firstly, the water-air mode of the traditional propulsion mode needs complicated mechanical structure adjustment, serious fluctuation of the ship body posture is easily caused, even instability risks occur, stability and safety of the switching process are insufficient, secondly, the propulsion parameters are fixed values, fluid characteristic differences of water and air mediums cannot be adapted, water resistance is high, propulsion efficiency is low, noise and heat radiation are high during air flight, and a targeted efficiency optimization strategy is lacked, thirdly, the ion propulsion technology is mature and applied in the aerospace field, but the prior art focuses on a single airspace or water area scene, the ion propulsion mode switching control strategy of the water-air dual-purpose ship is not proposed, fault redundancy and energy optimization mechanisms are not established, system reliability and cruising ability are limited, fourthly, obvious acoustic radiation and visual wake can be generated during operation of the traditional propulsion device, the ship body is also not provided with a targeted hidden body design, and low detectability is poor, and the requirements of military reconnaissance and other scenes are difficult to meet. In the prior art, a part of schemes provide a mode switching method of a water-air dual-purpose ship, but the improvement of a mechanical structure is focused, characteristic design control logic of an ion propulsion technology is not combined, the part of schemes relate to parameter control of ion propulsion, are only suitable for single medium scenes and have no cross-medium dynamic matching strategy, and meanwhile, the prior art does not realize three-layer cooperative control of gesture adjustment, parameter matching and gesture closed loop, and also lacks an integrated design of transition buffering, fault redundancy and stealth optimization, so that core pain points with large fluctuation of the water-air mode switching gesture, low propulsion efficiency and poor stealth can not be solved. Based on the above, there is a need for a water-air mode switching propulsion control method adapting to the ion propulsion technology, which realizes stable switching of the water-air mode through multi-dimensional cooperative control and strategy optimization, and improves propulsion efficiency, stealth performance and system reliability. Disclosure of Invention The invention aims to provide a water-air mode switching propulsion control system and method for an ion propulsion type water-air dual-purpose ship, which are used for realizing stable and efficient switching of the water-air mode by combining three-layer logic of step gesture adjustment, dynamic matching of propulsion parameters of medium adaptation and PID closed-loop gesture cooperative control, and combining transitional buffering, fault redundancy, energy optimization and stealth optimization strategies, and improving the reliability, cruising ability and low detectability of the system. The system comprises a plurality of groups of rotatable ion propulsion generating devices and a control system, wherein the plurality of groups of rotatable ion propulsion generating devices are symmetrically arranged on two sides or the bottom of a ship body and are connected with the ship body through a hinged rotating mechanical structure, the control system integrates a posture sensor group, an environment sensing sensor group, a main controller and a communication module, and the control system realizes stable switching of water surface navigation and air flight modes by combining transition buffering, fault redundancy and energy optimization strategies through three-layer cooperative control logic of stepped posture adjustment, medium-adaptive propulsion parameter dynamic matching and PID closed-loop posture cooperative control. A water-air mode switching propulsion control method of an ion propulsion type water-air dual-purpose ship comprises the following steps: s1, mode triggering judgment, namely receiving a mode switching instruction actively input by a user through a communication module, or automatically judging that a switching target is a water surface