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CN-122009460-A - Quick steering control method suitable for semi-submersible vehicle recovery process

CN122009460ACN 122009460 ACN122009460 ACN 122009460ACN-122009460-A

Abstract

The invention discloses a rapid steering control method suitable for semi-submersible vehicle recovery, and belongs to the technical field of underwater vehicle recovery. Aims to solve the problems of large turning radius, long track, long time consumption, high requirement on operation space and insufficient safety in the prior art. The method comprises the steps of planning a steering starting point, sailing to the starting point, fully steering to stably rotate at the lowest rotating speed, executing an empty vehicle to cut off the power of a propeller, realizing small-radius steering by pure freewheeling, observing a bow-lifting state to adjust a rudder angle, restoring the power and the depth of a normal vehicle in the same direction as a mother ship, and finishing recovery after fine adjustment. According to the invention, through the time sequence coordination of full rudder, empty vehicle and positive vehicle, the characteristics of eliminating thrust interference and maintaining steering control of the empty vehicle are utilized, so that the rapid small-radius steering is realized, and the advantages of shortening the operation time, reducing the space requirement and improving the fuel economy and safety are achieved.

Inventors

  • WAN JUN
  • ZHANG YUZHU
  • LIU JUNFEI
  • HU PENG
  • LIU JUNYI

Assignees

  • 宜昌测试技术研究所

Dates

Publication Date
20260512
Application Date
20251229

Claims (7)

  1. 1. The quick steering control method suitable for the semi-submersible vehicle recovery process is characterized by comprising the following steps of: step 1, initially approaching, and planning a steering starting point of a navigation body; Step 2, driving a full rudder after reaching the steering starting point, and completing the state switching of violent turning to stable turning; Step 3, the power system is discharged and enters a pure freewheeling steering state; step 4, pure freewheeling steering is carried out until the bow is lifted and floats, and a vertical rudder angle is adjusted to enter a direction-controlled state; step 5, the power systems of the navigation bodies are rearranged, steering is stopped, the speed is recovered, and the navigation is stable in the submerging depth; And 6, capturing and recycling.
  2. 2. The method of claim 1, wherein step 1 specifically includes the steps of using a combined positioning scheme of ultra-short baseline acoustic positioning and inertial navigation for the craft to drive to a clear view side of the mother ship at a given speed, and determining a turning start point in combination with a turning route, time consumption and an estimated result of the relative position of the mother ship.
  3. 3. The method according to claim 1, wherein step 2 specifically includes, when the navigation body reaches the steering starting point, reducing to the lowest rotation speed and sending a full rudder command, enabling the vertical rudder at the tail of the steering engine to deflect to the maximum rudder angle, realizing violent rotation through steering torque, and entering a stable rotation state after attitude maintenance regulation, wherein the stable rotation state refers to that track coordinates are collected in real time through a combined positioning system carried by the navigation body, track curvature is calculated, and when the track curvature slightly fluctuates around a target curvature value within a preset allowed interval within a continuous preset period, namely, the curvature value is considered to be kept constant, and the stable rotation state is reached.
  4. 4. The method of claim 1, wherein step 3 comprises, after the vehicle is stably turned, transmitting an idle command to control the clutch between the diesel engine and the gearbox to disengage to cut off the propeller power source, and to bring the vehicle into a pure freewheeling steering state in which the depth control is continuously operated.
  5. 5. The method of claim 1, wherein step 4 specifically comprises the steps of increasing the horizontal rudder angle of the craft to obtain a downward component force to maintain the depth of the craft before the pure freewheeling steering is lifted to the fore, and simultaneously changing the heading along a preset direction by adjusting the vertical rudder angle, and finally reducing the heading angle difference from the parent ship to be within a preset value to enter a direction-controlled state.
  6. 6. The method of claim 1, wherein step 5 specifically comprises, after entering a direction-controlled state, aligning the vertical rudder, sending a forward command to recombine the clutch to realize the power system row, transmitting the power of the diesel engine to the propeller to generate forward thrust, and under the synergistic effect of the fixed depth control and the forward thrust, converting the nose lifting state of the navigation body into nose dive state, stopping the steering after recovering to the target submerging depth, recovering the navigation speed and keeping stable navigation.
  7. 7. The method according to any one of claims 1-6, wherein step 6 specifically comprises that the mother ship stretches out of the towing bar with the towing rope, the craft is adapted to the attitude speed up-float the rope, and the recovery device locks and lifts up to the side capturing rack to complete the recovery.

Description

Quick steering control method suitable for semi-submersible vehicle recovery process Technical Field The invention belongs to the technical field of underwater vehicle recovery, and particularly relates to a quick steering control technology in a semi-submersible vehicle recovery process. Background In the semi-submersible vehicle recovery operation, in order to ensure that the vehicle is always in the visual field of recovery operators, the operation safety is ensured, and the prior art generally adopts a steering control scheme of 'away from first and then turning'. In specific implementation, since the rotation radius of the navigation body is large, the course cannot be directly adjusted through the left full rudder, the navigation body needs to be moved away from the mother ship in the opposite direction by the right full rudder operation, and then the navigation body is switched to the left full rudder to execute the large-radius turning action until the navigation body is adjusted to be in the same direction as the mother ship, and the movement track of the navigation body is approximately as shown in fig. 1. However, the prior art scheme has the remarkable defects that firstly, the time efficiency is low, the whole process of the navigation body away from and rotating is long, the recovery operation efficiency is reduced, more uncertainties are introduced due to time extension, such as coming at night and sudden changes of marine weather conditions, the recovery difficulty is possibly aggravated, secondly, the operation space is severely required, the large-radius rotation is difficult to realize in complex limited environments such as ports, channels and multiple operation platforms due to the fact that the large-radius rotation is supported in an open and bottom-detected water area, thirdly, the fuel economy is poor, the long-time maneuvering operation inevitably leads to increased fuel consumption and does not accord with the energy-saving environment-friendly trend, fourthly, the recovery operation personnel is easy to fatigue, the position and the gesture of the navigation body are easily interfered by environmental factors such as ocean currents and storms in the long-distance maneuvering process, the operation personnel is required to keep high concentration for a long time, and the operation personnel is required to bear huge mental pressure of 'over-near and easy to crash ship and over-far easily capture failure' when the navigation body is about to catch a mother ship. In-depth analysis, the defects in the prior art are all caused by the core problem that the turning radius of the navigation body is too large. Limited by the lowest rotation speed of the diesel engine gear boxes after being arranged, no effective technical means can directly solve the problem at present. In practice, the only mode capable of breaking through the lowest navigational speed and realizing quick steering is to adopt empty vehicle operation in the steering process, but the empty vehicle can cause the stall of a navigation body, if the operation is improper, the problems of unstable gesture, failure of the stabilized depth and the like of the navigation body are extremely easy to be caused, and even the problems of out-of-control gesture and failure of correcting the vehicle again can be caused when the operation is serious, so that the free vehicle operation is usually avoided in the prior art. In summary, the existing semi-submersible vehicle recovery steering technology falls into the dilemma of low efficiency, poor adaptability, high cost and difficult control due to overlarge turning radius, and the potential risk of idle operation limits the application of the technology as a solution, so that a quick steering control method capable of reasonably using the idle vehicle, effectively reducing the turning radius and guaranteeing the posture and the control stability of the vehicle is needed to solve the pain point in the prior art. Disclosure of Invention In view of the above, the invention provides a rapid steering control method suitable for a semi-submersible vehicle recovery process, which can select a machine to execute empty and positive operations according to actual requirements, is used for solving the technical pain points of long track, long time consumption, large turning radius and insufficient safety of the traditional vehicle recovery steering method, and achieves the purposes of realizing the rapid steering control of the semi-submersible vehicle, saving operation time and improving recovery safety. The invention aims to solve the core technical problem that the turning radius of the navigation body is too large, which is the root of four defects (low time efficiency, large operation space requirement, poor fuel economy and easy fatigue of operators) in the prior art, and the four defects can be synchronously broken as long as the problem is solved. In practice, the only way to break through the