Working ROV training simulator motion control simulation system

Abstract

The invention discloses a working ROV (Remotely Operated Vehicle) training simulator motion control simulation system, comprising an ROV body hydrodynamic system model, a seabed flow field disturbance speed model, a manipulator working disturbing force and moment model, an umbilical disturbing force and moment model, an ROV six-degree-of-freedom PID controller module, an overdriven thrust distribution module, a hydraulic airscrew propeller simulation control module, an eight-propeller thrust and moment model for thrust synthesizing six degrees of freedom, a six-degree-of-freedom thrust and moment and external disturbing force and moment synthesis module, an ROV automatic control function module and a four-degree-of-freedom ROV operation handle module. The system has the characteristics of simple structures and clear levels, and can truly describe the internal control system structure of a working ROV, accurately stimulate the real underwater motion control function and process of the working ROV, and realistically output motion and control parameter change processes of the working ROV.

Description

technical field [0001] The invention belongs to the technical field of motion control of an unmanned underwater robot, and in particular relates to a motion control simulation system for an operating ROV training simulator aimed at an overdrive operating type remote operated underwater robot (ROV—Remotely Operated Vehicle). Background technique [0002] The biggest feature of the operational ROV is that it can complete high-intensity, heavy-duty, and high-precision operations in a dangerous deep-sea environment. It is one of the indispensable major technical equipment for my country to implement the deep-sea resource development strategy. The development of ROV simulation training simulators can provide on-the-job training for operators in a virtual environment and rehearse underwater operations to improve operational efficiency and safety, which has important engineering value. [0003] ROV six-degree-of-freedom motion control system is one of the key technologies for devel...

AI Technical Summary

Problems solved by technology

(2) The operational ROV hydrodynamic model has large nonlinear coupling characteristics

(3) There are a variety of complex unknown disturbances in the working environment of ROV, such as submarine flow field disturbance, uncertain disturbance force of long umbilical cables, disturbance force of manipulator operation, etc.

(5) The propeller of the operational ROV is a hydraulically controlled propeller propeller, and the execution of the control command has a large hysteresis characteristic. How to realize the real-time dynamic simulation control of the ROV under the action of the hydraulic propeller has certain difficulties

At present, due to the sensitive technology, there are few public documents at home and abroad about the design of the operational ROV motion control simulation system.

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