Six-degree freedom motion control system for operating type ROV

A motion control, degree of freedom technology, applied in adaptive control, general control systems, control/regulation systems, etc., and can solve problems such as complex algorithms

Inactive Publication Date: 2016-05-25
HARBIN ENG UNIV
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Problems solved by technology

(3) The guidance law algorithm of the operational ROV is relatively complex, and it is necessary to realize the guidance law algorithm of the ROV six-degree-of-freedom motion and attitude value conversion between the earth coordinate system and the body coordinate system
At present, due to the sensitivity of the technology, there are few published literature on the design method of the operational ROV motion control system at home and abroad.

Method used

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  • Six-degree freedom motion control system for operating type ROV
  • Six-degree freedom motion control system for operating type ROV
  • Six-degree freedom motion control system for operating type ROV

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Embodiment Construction

[0075] The present invention will be further described below in conjunction with the accompanying drawings.

[0076] Based on an operational ROV hydrodynamic model, an operational ROV six-degree-of-freedom motion control system is designed, including: ROV body hydrodynamic model, ROV kinematic equation module, ROV six-degree-of-freedom motion controller, and ROV motion guidance Law calculation module, ROV control panel input control module and ROV software control input module.

[0077] The motion controller of the six degrees of freedom of the ROV adopts a double-closed-loop PID controller in the ROV body coordinate system, in which the inner loop is a speed loop and uses a PI control algorithm; the outer loop is a position loop and uses a PD control algorithm. The speed control commands of longitudinal, lateral, vertical and bow can be input through the inner ring to realize the speed control of ROV's forward and backward, lateral, heave and bow direction. The position cont...

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Abstract

The invention, which belongs to the technical field of motion control of the unmanned underwater robot, particularly relates to a six-degree freedom motion control system for operating type remotely operation vehicle (ROV). The method comprises: an ROV hydrodynamic model is established; controlling forces and moment vectors of an operating ROV at six freedom directions are established; a motion state of the operating type ROV in a body coordinate system {b} is calculated; a kinematical equation of an ROV is established; an angular speed motion state of the ROV body coordinate system is converted into one expressed in a geodetic coordinate system; an angular displacement state of the ROV body coordinate system is converted into one expressed in the a geodetic coordinate system; and according to an inputted ROV expected course angle in the geodetic coordinate system, an ROV expected course angel in the body coordinate system is calculated. According to the invention, the process of controlling the motion and attitude changes of the operating type ROV by an external control input can be simulated vividly. The method has the characteristic of capable of simulating various motion and control parameter changing processes of an ROV during the underwater working process vividly.

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 six-degree-of-freedom motion control method of an operating ROV (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. One of the core technologies of operational ROV equipment is to design a motion control system with six-degree-of-freedom manipulation and control capabilities, which is an important theory for ensuring ROV underwater operation capabilities, improving operational efficiency, and ensuring the safety of underwater operations Significance and engineering value. [0003] ROV six-degree-of-freedom motion control system is...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 李新飞袁利毫韩端锋崔洪斌谢耀国姜迈
Owner HARBIN ENG UNIV
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