Underwater vehicle control device

FIELD: ship building.

SUBSTANCE: invention relates to underwater vehicle control systems. Proposed device comprises vertical and horizontal motion propulsors, TV camera, TV camera turn angle pickup, first threshold element, first adder, first source of reference signal, second threshold element, logical element NO and logical element OR. It comprises also the third threshold element, sine-wave functional converter, fist gate, first multiplication unit, first amplifier, sine-wave functional converter, second multiplication unit, second gate, second amplifier, distance pickup. It comprises, further on, the third gate, fourth threshold element, fourth gate, fifth gate, fourth threshold element, sixth gate, instructions pickup, first division unit, second source of reference signal, second adder, seventh gate, third source of reference signal, third adder, seventh gate, fifth threshold element and eighth gate.

EFFECT: automatic elimination of false manual control signals.

1 dwg

The invention relates to traffic control systems for underwater vehicles (PA).

A device for controlling an underwater apparatus containing the drivers of vertical and horizontal displacements, respectively connected to the outputs of the first and second amplifiers, a television camera mounted to rotate, the control unit propulsion and connected in series sine function Converter, the first block multiplication, the first key, the output of which is connected to the input of the first amplifier, connected in series cosine functional Converter, the second block multiplication, the second key, the output of which is connected to the input of the second amplifier, the first threshold element, the output of which is connected with the control input of the first key, serial connected reference signal, the first adder, the second threshold element, the logic element is NOT logical element OR the second input is through the third threshold element connected to the output of the adder, and the output with the control input of the second key, and the second inputs of multiplier units connected to the control unit propulsion, and inputs the sine and cosine functional converters, the first threshold element and the second input of the first adder with the output of the angle sensor cameras, sledovatelno United proximity sensor, the third key, the fourth threshold element and a fourth key, serial connected the first unit, the first and second inputs which are connected respectively to the input of the second unit of multiplication and the output of the second reference signal, the second adder and the fifth key, the second and third inputs of which are connected respectively to the outputs of the first and second units of the division, and the output from the second input of the fourth key, the third input connected to the output of the control unit propulsion, and the output from the first inputs of the first and second multiplier units, and first and second inputs of the second unit are connected respectively to the input of the first block multiplication, and output the third reference signal and the second input of the second adder connected to the output of the second unit (A.S. No. 1300809).

The disadvantage of this device is a great time to approach the PA to the detected object for manual control.

It is also known device to control the submersible containing propulsion vertical and horizontal displacements, respectively connected to the outputs of the first and second amplifiers, a television camera mounted to rotate, the control unit propulsion and connected in series sine function Converter, the first block multiplication, the first choice is the key, the output of which is connected to the input of the first amplifier, connected in series cosine functional Converter, the second block multiplication, the second key, the output of which is connected to the input of the second amplifier, the first threshold element, the output of which is connected with the control input of the first key, serial connected reference signal, the first adder, the second threshold element, the logic element is NOT logical element OR the second input is through the third threshold element connected to the output of the adder, and the output with the control input of the second key, and the second inputs of multiplier units connected to the control unit propulsion, and inputs the sine and cosine functional converters, the first threshold element and the second input of the first adder with the output of the angle sensor cameras, connected in series proximity sensor, the third key, the fourth threshold element and a fourth key, serial connected the first unit, the first and second inputs which are connected respectively to the input of the second unit of multiplication and the output of the second reference signal, the second adder and the fifth key, the second and third inputs of which are connected respectively to the outputs of the first and second units of the division, and the output from the second input of the fourth key, the third input is vtorogo coupled to the output control unit propulsion and the output with the first inputs of the first and second multiplier units, connected in series, the third adder, the fifth threshold element, the sixth and seventh keys, and the first and second inputs of the second unit are connected respectively to the input of the first unit of multiplication and the output of the third reference signal and the second input of the second adder with the output of the second unit, the second inputs of the sixth and seventh keys connected to the fourth output of the threshold element, and the output of the seventh key to the first input of the fourth key direct input of the third adder connected to the output of the sensor commands, and an inverse input of the third adder - with the release of the fifth key (A.S. No. 1408704).

This device in its technical essence is the closest to the proposed solution.

A disadvantage of this device is that in the process erroneously large control signals generated by the operator in a separate modes of PA in the vicinity of the detected objects, can lead to saturation of one of the propellers. The result may cause deviations PA from the desired rectilinear motion to the detected object.

Technical task, which directed the claimed technical solution is to eliminate the above drawback. That is, the automatic is lakirovki large signals, erroneously generated by the operator using the control unit propulsion and leading to outright PA with a straight trajectory to the detected objects in the vicinity of these objects.

The technical result that can be obtained when implementing the proposed solutions, is expressed in an automatic exception erroneously generated by the operator of the manual control signals PA up until it will not reduce the magnitude of these signals, consistently providing rectilinear motion to the object.

The problem is solved in that the device for controlling the submersible containing propulsion vertical and horizontal movements, the camera that is installed with the possibility of rotation, connected in series angle sensor cameras and the first threshold element connected in series to the first adder, a first input of which is connected to the output of the first reference signal, the second threshold element, logic element and a logic element OR the second input is through the third threshold element connected to the output of the first adder, connected in series sine function Converter, the first block multiplication, the first key, the second input is connected to the output of the first threshold element and the first amplifier, the output of which is connected with the Odom thruster vertical movement, connected in series cosine functional Converter, whose input is connected to the second input of the first adder, the input sine functional Converter and the output of the angle sensor cameras, the second block multiplication, the second key, the second input is connected to the output of logical OR element, and the second amplifier, the output of which is connected to the input of the propulsion horizontal movement, connected in series proximity sensor, the third key, the fourth threshold element, the fourth key, the fifth key, the second input is connected to the fourth output of the threshold element, and the sixth key, the output of which is connected to the second inputs of the first and second multiplier units, and sensor commands and consistently connected the first unit, the first and second inputs which are connected respectively to the outputs of the cosine functional Converter and the second reference signal, the second adder and the seventh key, a second input connected to the output of the first unit and the third with the second input of the second adder and the output of the second unit, the first and the second input of which is connected to the output of the third reference signal and the output of the sine functional inverter, connected in series, the third adder, the first entry is vtorogo connected to the output of the seventh key and the second input of the sixth key, and the second input with the output of the sensor, and the fifth threshold element, the output of which is connected to the second input of the fourth key, characterized in that it additionally introduced the eighth key, the first input of which is connected to the sensor output commands, the second to the fifth output of the threshold element, and the output to the third input of the sixth key.

Comparative analysis of the proposed technical solution with its analogue and prototype demonstrates its compliance with the criterion of "Novelty".

The claimed set of features listed in the characterizing part of the claims, allows you to automatically exclude errors in running straight to the PA to the detected objects to the end of this movement.

The drawing shows a functional diagram of the device for controlling the submersible.

Device to control the submersible contains propulsion 1 vertical and 2 horizontal movements, the camera 3 is installed with the possibility of rotation, connected in series sensor 4 angle camera 3 and the first threshold element 5, connected in series, the first adder 6, the first input of which is connected to the output of the first source 7 the reference signal, the second threshold element 8, the logical element 9 and NOT logical element 10 OR the second input is through a third threshold element 11 is connected to the output of the first adder 6, connected in series sine function Converter 12, the first block 13 multiplication, the first key 14, the second input is connected to the output of the first threshold element 5, and the first amplifier 15, the output of which is connected to the input of the mover 1 vertical movement, connected in series cosine functional Converter 16, the inlet of which is connected to the second input of the first adder 6, the input sine functional Converter 12 and the output of the sensor 4 of the rotation angle of the camera 3, the second block 17 multiplication, the second key 18, the second input is connected to the output of logic element 10 OR the second amplifier 19, the output of which connected to the input of the mover 2 horizontal movement, connected in series 20 gauge distance, the third key 21, the fourth threshold element 22, the fourth key 23, the fifth key 24, the second input is connected to the fourth output of the threshold element 22, and the sixth key 25, the output of which is connected to the second inputs of the first 13 and 17 second multiplier units, and the sensor 26 teams and consistently connected the first block of 27th division, the first and second inputs which are connected respectively to the outputs of the cosine functional Converter 16 and the second source 28 reference signal, the second adder 29 and the seventh key 30, the second input of which connection is replaced with the output of the first block 27 division and the third with the second input of the second adder 29 and the output of the second block 31 division, the first and the second input of which is connected to the output of the third source 32 reference signal and the output of the sine functional Converter 12, connected in series, the third adder 33, the first input connected to the output of the seventh key 30 and a second input of the sixth key 25, and the second input with the output of the sensor 26, and the fifth threshold element 34, the output of which is connected to the second input of the fourth key 23, the eighth key 35, the first input of which is connected to the output of the sensor 26 teams, the second to the fifth output of the threshold element 34, and the output to the third input of the sixth key 25. The detected object 36.

The main task of the control system cs is the minimum time his approach to the detected object and reducing the likelihood of collision with other objects crossing its trajectory. Based on this task, it is advisable to have a rectilinear motion PA to the target at maximum speed. And only with the direct approach to goal this speed should decrease.

The device operates as follows.

The position sensor 4 measures the current angle of the camera to the horizontal plane (angle α). The result is uniquely determined by the direction of rectilinear movement is of PA to the object 36. In order for PA to have it done rectilinear motion, it is necessary that in unit time he moved in the vertical direction by a distance proportional to sinα, and the horizontal distance is proportional cosα. That is, the propellers 1 and 2 must create a thrust proportional respectively sinα, cosα. If you are using screw propellers, the speed of rotation of the screws must also be proportional respectively sinα and cosα.

Functional dependency sinα and cosα are formed respectively at the outputs 12 sine and cosine 16 functional converters.

Output units 13 and 17 are formed, respectively, the signals U_ysinα and U_ycosα. The control signal U_ydetermines the moving speed of the PA on a straight-line trajectory to the detected object 36. It is formed or automatically or by the operator using the sensor 26 teams, which is a handle with a potentiometer or simply potentiometers of different types. If the keys 14 and 18 are closed, the propellers 1 and 2 respectively receives signals U_In=K_InU_ysinα, U_G=K_GU_ysα, where K_In, K_G- gain amplifiers 15 and 19, respectively, which are selected depending on the hydrodynamic properties of PA. Created by the propellers 1 and 2, the thrust is proportional to ve is icine supplied to thrusters signals U _Inand U_Gthat have restrictions. This thrust provides rectilinear movement PA to the detected object 36.

The proposed device provides a quality control of the PA and in the presence of underwater currents. In this case, the operator must constantly keep a detected object in the field of view of the camera, changing the angle α. When propulsion, respectively increasing or decreasing their thrust, automatically ensures the convergence of the PA with the object. However, if for considerably (for example, counter flow, the machine is pressed to the ground. If the bottom topography contains significant irregularities, possible or loss of the object 36 out of sight, or collision of the vehicle with these irregularities, i.e. when the counter reaches α approaches zero.

In order to avoid this situation, you must disable the mover 1 vertical thrust at some critical (minimum allowable) value of the angle α. Disabling the propulsion device 1 is provided with a threshold element 5 with characteristic

where U_WyhU_WHrespectively the output and input signals of this element; U_SR>0 - the value of the trigger threshold element (it is determined by the terrain and the properties of the PA, the nature of work performed and others).

Thus, if the angle α reaches swaeg the critical value, the threshold element 5 unlocks the key 14. Mover vertical movement 1 is stopped and the counter flow becomes the mover 2. This PA is approaching the object 35 in the horizontal direction. As the TV camera 3 continues the monitoring of the object, and the distance between the object and the PA is reduced, then after some time, the angle α becomes more critical, triggered the threshold element 5, including the key 14 and re-starting the propulsion device 1. It continues to approach the PA to the object 36.

When passing over a situation arises where the PA can pass the object 36, passing over it at some height, as in the proposed control method PA at a certain point of convergence with the object is in position, when the angle α is close to 90°, staying less than 90°.

In this case, and over, and the mover 2 contribute to the increase of the angle α. If the approach angle α to 90° do not disable the mover 2, PA overshoots the object 36 at high speed and for his return, it requires considerable time. To eliminate this situation, use a reference source 7 for generating a voltage equal to the output signal of the position sensor 4 at α=90° and the same sign. Threshold elements 8 and 10 have respective features

;,

the de U _IOUTU_WH- input and output signals of the respective threshold element (i=8, 11); U_8c<0 is the value of the input signal, which triggers the threshold element 8.

The output signals of the elements is NOT 9 OR 10 are determined

ratios,

.

As a result, the propulsion force 2 will always stop when the condition U_8c≤U_WH≤0 before PA gets the object 36. The latter follows from the fact that the elements of 8-10 with a key 18 unlock the power circuit of the propulsion device 2 at the approach angle α of 90°. The value of U_8sis determined in advance and depends on the flow velocity, the hydrodynamic properties of the PA, the nature of the works, etc.

After disabling propulsion 2 movement to the object 36 occurs only under the action of the mover 1 in the vertical direction. If in the process of approaching the object, the angle α decreases, the key 18 is again closed and thereby starts the mover 2. PA again begins to approach the object 36 straight until conditions U_8c≤U_WH≤0.

If after stopping the propulsion 2 for shifts PA horizontally so that the angle α becomes greater than 90°, then the threshold element 11 is closed by the key 18, but the mover 2 is already creating emphasis in opposite to the flow direction, not giving the PA strongly p is Ecocity object 36. Since in this case to reach the α values 90° mover 2 is disabled, PA at the moment of achievement of magnitude of 90° has a slight horizontal component of speed is mainly determined by the magnitude of the associated horizontal flow. In the PA passes the object 35 with minor speed quickly extinguished reverse turning of the propulsion unit 2 through a signal of the opposite sign from the cosine functional Converter 16. If the mover 2 shifts the PA so that α becomes smaller than 90°, then again, opens the circuit of the mover 2. In this case, the horizontal component of velocity is automatically extinguished already counter flow.

The signals from the outputs of the source reference signal 28 and 32, respectively- the maximum possible values of the input signals, respectively propulsion 2 and 1, which is not yet leading to their saturation. As a result, the outputs of blocks dividing the 27 and 31 are formed signalsthe corresponding maximum values of control actions, which respectively thrusters 2 and 1 are not yet part of the saturation at the current value of angle α and therefore, is provided with rectilinear movement to the object 36. As a result, unchanged ensure the value of the linear motion of the object as the Manager shall be selected a minimum of two calculated values or.

At the output of the adder 29, a signal is generated that is equal to. If this dierence is positive, thenand the key 30 connects the output of block 31 to the input key 25. As a result, the second inputs of multiplier units 13 and 17 as the control signal U_in^y(the maximum possible with the current value of α for propulsion 1). If this difference is negative, then U_in^y>U_g^yand the key 30 provides feed to the second inputs of multiplier units 13 and 17 as a control signal U_g^y(the maximum possible with the current α for propulsion 2). With this formation U_yalways ensure rectilinear movement PA to the object 36.

It is obvious that in the above algorithm, the control signal U_ythe sensor 26 teams (manual control) should be disabled. Disabling this sensor is provided with a key 25. The specified automatic control algorithm only takes place when distances between the PA and the object. This distance is measured using the sensor 20, and if it becomes less than some preassigned value, it triggers the threshold element 22 and the key 25 connects the second input multiplier units 13 and 17 with the output of the sensor 16 teams. In the result of the transition to manual control near the object 36. The threshold element 22 is selected in advance. It depends on the way the braking PA, which, in turn, is determined by the hydrodynamic properties of this device and the possible maximum speed of its movement.

If in the process of approximation to the object regardless of the distance between him and the device you want to use only manual control, the output of the sensor 20 is manually disconnected from the input of the threshold element 22 by means of a key 21. In the result, regardless of the distance between PA and the object 36, the output signal of the threshold element 22 is equal to zero and the key 24 connects the second input units 13 and 14 with the sensor output commands 26.

If you still want to go on automatic control, the key 21 is closed. However, when around the object 36 other PA crossing the trajectory of the considered PA, you may need to maneuvering speed. In this case, the automatic mode of motion PA to the object without providing special means of discovering other PA and protection from collision impossible. In this situation requires continuous manual control. If the motion zone PA does not appear extraneous driving apparatus, the movement to the object 36 still should be on a straight-line trajectory and maximum speed. The speed in either the time the operator must be reduced, if the trajectory is near or assume the appearance of other PAS.

In this situation, the key 24 by the operator manually switches and connects the output of the key 23 to the first input key 25. At the output of the adder 33 is formed a signal equal to the difference between the signal produced by the sensor 26 teams, and the smallest of the signals U_in^yor U_g^y. If this dierence is negative, then neither of the two drivers is not included in saturation and the control signal generated by the operator using the sensor 26 teams that can move the PA on a straight-line trajectory to the object. In this case, the key 23, the input of which receives the zero signal of the threshold element 34, opens the circuit even at considerable distance to the object 36 and to the first input key 25 receives a zero control signal that disables the inputs of multiplier units 13 and 17 from the output of the key 30 and connects them with the release of the key 35, through which passes the signal from sensor 26 teams.

If the output signal of the adder 33 becomes positive, the rectilinear motion of the PA to the object under the action of the output signal from the sensor 26 becomes impossible. In this situation, the operator attempts to set the speed of movement of the PA, which he is not able to work during rectilinear motion to the object. There is a saturation of one of the jet, the residents. Made by operator error must be corrected immediately by automatic control system. The positive signal from the output of the adder 33 causes the trigger threshold element 34. In the key 23, the output of the threshold element 22 is connected to the first input key 25. Since greater speed PA, the operator can set only at considerable distance to the target, the output signal of the threshold element 22 is not equal to zero. As a result, the key 25 is automatically removes the operator from the control PA and regardless of the mistakes made by the operator, the PA moves to the object in the automatic mode is straightforward and as fast as possible. If the movement path of the PA there are other objects, the operator reduces the output signal from the sensor 26 teams. As a result, the output signal from the adder 33 again becomes negative, reset output threshold element 34 and the key 23 is opened. The key 25 again connects the output of the sensor 26 to the inputs of multiplier units 13 and 14, and PA again subject to the operator's command, switching to manual control. This manual operation continues until such time as the operator will not make another mistake and do not specify using the sensor 26 is not sold in straight-line motion to the object speed PA. When the new operator error system again p is riodic PA on automatic control. As a result, the PA will always move to the target along the shortest straight-line trajectory regardless of the actions of the operator. It saves and it takes energy to move and reduces the time of approach of the PA to the detected objects.

If unexpected obstacles on the road to success is not forthcoming, then the operator can again go on automatic control PA as fast as possible rectilinear motion, manually connecting by means of a key 24, the output of the threshold element 22 to the input key 24.

If the distance from PA to object 36 is small, the zero output signal of the threshold element 22 through a closed non-zero output signal of the threshold element 34 key 23 in all cases, transfer the management of PAS in manual mode from the sensor 26, even when the operator issues the use of this sensor unacceptably large for rectilinear motion PA to the object 36 signal (taking into account the saturation of propulsion). In this situation, to eliminate operator error switching to automatic mode (at a small distance from PA to object) is already impossible. Therefore erroneously large control signal generated by the operator using the sensor 26, with the purpose of preserving the rectilinear motion to the object 36 should not be received at the inputs of multiplier units 13 and 14, as well as thrusters 1 and 2. Disabling this erroneous signal undertake aetsa key 35, on the control input of which is fed to a non-zero signal with a threshold element 34. All drivers cease to work.

In this situation completely stops moving object 36 despite the excessively large signals produced by the sensor 26. Feeling a stop PA, the operator should understand the error associated with excess generated control signal and reduce the signal. After reducing the operator of the control signal is below the maximum allowable level when the current value of the angle α at the output of the adder 33 will receive a negative signal, and the output of the threshold element 34 is zero, the signal providing circuit key 35, which, in turn, provides the passage created by the operator is reduced (valid) control signal to the inputs of multiplier units 13, 17 and propulsion 1, 2. In the rectilinear motion of the PA to the object to be continued.

Thus, the proposed device to control the submersible allows full control over manual control of the PA and in the case of possible operator error save rectilinear motion to the object as fast as possible.

Device to control the submersible containing propulsion vertical and horizontal movements, the camera that is installed with the possibility of rotation, connected in series angle sensor cameras and the first threshold element connected in series to the first adder, a first input of which is connected to the output of the first reference signal, the second threshold element, logic element and a logic element OR the second input is through the third threshold element connected to the output of the first adder, connected in series sine function Converter, the first block multiplication, the first key, the second input is connected to the output of the first threshold element and the first amplifier, the output of which is connected to the input of the thruster vertical movement, connected in series cosine functional Converter, whose input is connected to the second input the first adder input sine functional Converter and the output of the angle sensor cameras, the second block multiplication, the second key, the second input is connected to the output of logic element OR the second amplifier, the output of which is connected to the input of the propulsion horizontal movement, connected in series proximity sensor, the third key, the fourth threshold element, the fourth key, the fifth key, the second input is connected to the fourth output of the threshold element, and the sixth key, the output of which is connected to the WTO is passed to the inputs of the first and second multiplier units, and sensor commands and consistently connected the first unit, the first and second inputs which are connected respectively to the outputs of the cosine functional Converter and the second reference signal, the second adder and the seventh key, a second input connected to the output of the first unit and the third with the second input of the second adder and the output of the second unit, the first and the second input of which is connected to the output of the third reference signal and the output of the sine functional inverter, connected in series, the third adder, a first input connected to the output of the seventh key and the second input of the sixth key, and the second input - with the sensor output commands, and the fifth threshold element, the output of which is connected to the second input of the fourth key, characterized in that it additionally introduced the eighth key, the first input of which is connected to the sensor output commands, the second to the fifth output of the threshold element, and the output to the third input of the sixth key.