A Dynamics and Kinematics Estimation Method for Deep-sea Operation Type Underwater Robot

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

Active Publication Date: 2017-06-20
HARBIN ENG UNIV
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  • Abstract
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  • Claims
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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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  • A Dynamics and Kinematics Estimation Method for Deep-sea Operation Type Underwater Robot
  • A Dynamics and Kinematics Estimation Method for Deep-sea Operation Type Underwater Robot
  • A Dynamics and Kinematics Estimation Method for Deep-sea Operation Type Underwater Robot

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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 ROV, in particular to a method for estimating dynamics and kinematics of a deep-sea operation type underwater robot. The invention includes: establishing a fixed coordinate system, a satellite coordinate system and a thruster coordinate system, and estimating a six-degree-of-freedom coordinate transformation matrix; estimating the mass matrix of an operational underwater robot and the resulting Coriolis force and centripetal force matrix; Hydrodynamic force; estimate the static force of the operational ROV; estimate the thrust of the operational ROV; estimate unknown disturbance items; determine the final dynamics and kinematics model of the operational ROV. The present invention uses the theories of dynamics, fluid mechanics, and submarine maneuverability to model the dynamics and kinematics of deep-sea operating ROVs. Aiming at the complex mathematical models of underwater submersibles, the method of symmetry and a small amount of neglect is used to analyze the deep-sea operations. The mathematical model of small ROV is simplified, and the established model can estimate the force of 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 Patents(China)
IPC IPC(8): G06F17/50
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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