Rudder angle self-adaptive distribution method, system and equipment of underwater platform X rudder and medium

The invention discloses a rudder angle self-adaptive distribution method, system and device for an X rudder of an underwater platform and a medium. The method comprises the following steps: defining and numbering each rudder blade of the X rudder of the underwater platform; aiming at the numbered X rudders, constructing an X-rudder stern rudder distribution strategy; based on the X-rudder and stern rudder distribution strategy, adaptive distribution is carried out on the rudder angle of the X rudder of the underwater platform, and the motion state of the underwater platform is controlled. According to the method, the rudder angle of the X rudder can be adaptively adjusted and distributed according to different task characteristics of actual navigation, and high-precision control over the motion state of the underwater platform can be achieved. 本发明公开了一种水下平台X舵舵角自适应分配方法、系统、设备及介质，方法包括：对水下平台X舵的每个舵叶进行定义编号；针对编号后的X舵，构建X舵艉舵分配策略；基于X舵艉舵分配策略对水下平台X舵的舵角进行自适应分配，控制水下平台的运动状态。使用本发明方法可以针对实际航行不同任务特点自适应调整分配X舵舵角，有利于实现水下平台运动状态的高精度控