Dynamics and kinematics estimation method for deep sea operation type ROV

An underwater robot and dynamics technology, applied in the direction of instruments, calculations, special data processing applications, etc., can solve problems such as thruster installation angle, position thruster thrust vector error, ROV maneuverability stability control influence, etc.

Active Publication Date: 2014-07-23
HARBIN ENG UNIV
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Problems solved by technology

In actual engineering, there are errors in the installation angle and position of the propeller and the thrust vector of the propeller
However, in most researches on the modeling methods of underwater vehicles, the installation error and thrust vector error of the propulsion system are ignored, and only the thrust and moment of the propulsion system are treated as ideal fixed constants. The handling performance and stability control will have an impact

Method used

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  • Dynamics and kinematics estimation method for deep sea operation type ROV
  • Dynamics and kinematics estimation method for deep sea operation type ROV
  • Dynamics and kinematics estimation method for deep sea operation type ROV

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Experimental program
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specific Embodiment approach

[0167] (1) Analyze the stress of deep sea operation ROV. Including hydrodynamic force, static force, propeller thrust, cable force, influence of ocean current and recoil force of manipulator, etc.

[0168] (2) Steps to establish a fixed coordinate system

[0169] Neglecting the influence of the earth's surface acceleration relative to the low-speed ROV, the fixed coordinate system can be considered as an inertial coordinate system. The origin E can be selected at a fixed point on the earth, such as any point on the sea surface or in the sea. The Eξ axis is located on the horizontal plane, and the main heading of the ROV is positive; the Eη axis is located on the horizontal plane where the Eξ axis is located, and the Eξ axis is rotated clockwise by 90° according to the right-hand rule; the Eζ axis is perpendicular to the ξEη coordinate plane, pointing to the center of the earth is positive . The schematic diagram of the fixed coordinate system is as follows figure 2 shown....

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Abstract

The invention relates to the technical field of deep sea operation type ROVs, in particular to a dynamics and kinematics estimation method for a deep sea operation type ROV. The method comprises the steps of establishing a fixed coordinate system, a body coordinate system and a propeller coordinate system, and estimating a matrix for coordinate transform in six freedom degrees; estimating the mass matrix of the operation type ROV and a caused coriolis force and centripetal force matrix; estimating water power borne by the operation type ROV; estimating the static force borne by the operation type ROV; estimating the thrust of the operation type ROV; estimating unknown disturbance terms; determining the ultimate dynamic and kinematic model of the operation type ROV. According to the dynamics and kinematics estimation method for the deep sea operation type ROV, dynamic and kinematic modeling of the deep sea operation type ROV is carried out on the basis of dynamics, fluid mechanics, submarine maneuverability and other theories, aiming at complex mathematic models of underwater vehicles, the symmetry theory and the method of neglecting small magnitudes are utilized to simplify the mathematic models of the deep sea operation type ROV, and the established models can be used for estimating the stress situations of the ROV more accurately.

Description

technical field [0001] The invention relates to the technical field of deep-sea operation type ROV, in particular to a method for estimating dynamics and kinematics of a deep-sea operation type underwater robot. Background technique [0002] The dynamics and kinematics model of ROV embodies the law of motion of ROV, and is a quantitative representation of the environment and system information of underwater robots. is an important reference. Studying the motion law of the submersible under the influence of various moments and forces in the water, so as to establish the motion equation of the submersible, is the basis for studying its control system. However, if the model is too complex, the control system will be very complicated, or even impossible to realize; if the model is too simple, it cannot truly reflect the motion of the system, resulting in a decrease in control performance. Therefore, it is very important to establish the space dynamics equation of the underwate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06F19/00
Inventor 魏延辉周卫祥曾建辉杜振振何爽刘鑫王泽鹏韩寒胡佳兴贾献强
Owner HARBIN ENG UNIV
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