CAM matrix-based underwater robot vectored thrust distribution method
A technology of underwater robots and distribution methods, which can be applied to underwater ships, underwater operating equipment, motor vehicles, etc., and can solve problems such as single control
Active Publication Date: 2015-02-04
中国船舶重工集团公司第七〇五研究所
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[0005] In order to overcome the shortcomings of the single direction control of the existing vector thrust distribution method for underwater robots, the present invention provides a vector thrust distribution method for underwater robots based on CAM matrix
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[0041] refer to figure 1 . The present invention is based on the CAM matrix vector thrust distribution method for underwater robots The specific steps are as follows:
[0042] 1. Establish thruster layout benchmarks.
[0043] The propeller layout of the underwater robot is determined based on the "vehicle coordinate system". In the present invention, the definition of the satellite coordinate system is to select six faces of the outer contour of the underwater robot to form a cuboid, and use the geometric center of the cuboid as the coordinate origin O of the satellite coordinate system, and the OX axis is in the longitudinal symmetry plane of the cuboid, vertical On the front face of the robot, pointing to the forward direction; the OZ axis is in the longitudinal symmetry plane of the cuboid, pointing upward perpendicular to the OX axis; the OY axis is perpendicular to the ZOX plane, forming a right-handed rectangular coordinate system with the OX axis and the OZ axis.
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The invention discloses a CAM matrix-based underwater robot vectored thrust distribution method, which is used for solving the technical problem that the direction control of the conventional underwater robot vectored thrust distribution method is single. Aiming at a multi-degree of freedom vectored thrust underwater robot, the technical solution directly associates the execution result of each multi-degree of freedom vectored thruster control instruction with contribution to the six degrees of freedom of the underwater robot made by the multi-degree of freedom vectored thruster control instruction, gives a distribution contribution coefficient, and generates a contribution coefficient vector related to the six degrees of freedom of the underwater robot for each degree of freedom control instruction of each thruster. When a controller gives each degree of freedom control instruction to the underwater robot, the inner product of the vector formed by each degree of freedom demand instruction of the underwater robot and the contribution coefficient vector corresponding to the degree of freedom of each thruster is worked out, and the result is the control instruction of the thruster in the degree of freedom direction. The method can effectively distribute the control instructions of each degree of freedom of the underwater robot to each multi-degree of freedom thruster.
Description
technical field [0001] The invention relates to a vector thrust distribution method of an underwater robot, in particular to a CAM matrix-based vector thrust distribution method of an underwater robot. Background technique [0002] The motion control of underwater robots, especially open-frame underwater robots, is realized by propellers. In order to meet the minimum mobility requirements of the underwater robot, the underwater robot should have at least three degrees of freedom of movement, as well as advance and retreat, dive and float, and turn the bow. Most underwater robots have no less than 4 degrees of freedom in motion, including lateral movement in addition to the above 3 degrees of freedom. [0003] The document "Optimization of Thrust Allocation in the Propulsion System of an Underwater Vehicle. Int. J. Appl. Math. Comput. Sci2004, Vol. 14, No. 4: 461-467" discloses a thrust optimization allocation of underwater vehicles This method can effectively solve the mot...
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IPC IPC(8): B63H5/00B63H21/00B63C11/52
CPCB63G8/16B63G2008/005
Inventor 范辉赵雄辉吝龙艳
Owner 中国船舶重工集团公司第七〇五研究所