ROV attitude control method based on error quaternion feedback

An error quaternion and attitude control technology, applied in the direction of program control manipulators, manufacturing tools, ships, etc., can solve the problems of inability to realize 360° rotation motion control without dead angle, more complicated than Euler angle, and increase the amount of calculation. Easy to understand, easy to operate and implement, optimized and upgraded

Inactive Publication Date: 2016-06-01
QINGDAO HISUN OCEAN EQUIP
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Problems solved by technology

Among them, the Euler angle is easy to understand, the image is intuitive, and only three values ​​are needed, but the rotation order of the three values ​​​​will lead to different results, and must be rotated in a fixed order, and it will cause the gimbal lock phenomenon; Quaternary The numerical method can avoid the gimbal lock phenomenon. Only a four-dimensional quaternion can perform rotation around any vector passing through the origin, and can provide a smooth difference, but its understanding is relatively difficult and unintuitive. Compared wi

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  • ROV attitude control method based on error quaternion feedback
  • ROV attitude control method based on error quaternion feedback
  • ROV attitude control method based on error quaternion feedback

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[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] exist figure 1 and figure 2 , establish the inertial coordinate system and the motion coordinate system of ROV;

[0029] The inertial coordinate system is that the coordinate origin E is a certain point on the earth; the Eξ axis is located on the horizontal plane, and the forward direction of the ROV is positive; the Eη axis is located in the Eξ plane and rotates Eξ clockwise by 90° according to the right-hand rule; the Eζ axis is located in the Eζξ plane, pointing to the ground Heart. The motion coordinate system is that the coordinate origin G is taken at the center G of the ROV, the Gx axis is parallel to the ROV baseline and points to the forward direction; the transverse axis Gy is parallel to the base plane and points to the right side of the ROV; and the Gz axis points to the bottom of the ROV.

[0030] ROV symmetric...

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Abstract

The invention discloses an ROV attitude control method based on error quaternion feedback. An inertial coordinate system and an ROV motion coordinate system are established; a three-freedom-degree rotating attitude of an ROV is modeled; an attitude sensor detects the ROV and outputs an attitude quaternion, the current quaternion of the ROV is compared with a target quaternion, and an error quaternion is solved; the error quaternion is input into a PID controller, needed torque on three axes in the ROV motion coordinate system is calculated, a processor controls the voltage of a propeller motor according to the needed torque, corresponding push force is generated, the ROV attitude adjustment is finished, the ROV is made to rotate by 360 degrees without the dead angle, the attitude is stable, and operation under the complex work environment is achieved.

Description

technical field [0001] The invention relates to an ROV attitude control method, in particular to an ROV attitude control method based on error quaternion feedback. Background technique [0002] Unmanned remotely operated submersibles (Remote OperatedVegicle) can be used for various purposes such as operations and observations. Depending on the specific use, its technical implementation schemes are also different. The traditional ROV's motion is mostly linear motion of front and rear, left and right, up and down, and rotational motion of the Z axis. However, in some more complex operating environments, such as attaching to the bottom of the ship, walls, pipes, etc. with continuous and large attachment surfaces, ROVs are required to be able to complete 360° rotation in the X, Y, and Z directions without dead angles. And achieve posture stability. Correspondingly, ROV control cannot use the commonly used Euler angle control method for attitude control, because the Euler angle...

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Application Information

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IPC IPC(8): B25J9/04B63C11/52
CPCB25J9/045B63C11/52
Inventor 温泉宋晓暖曹雪峰徐兴洲孙伟志熊海霞
Owner QINGDAO HISUN OCEAN EQUIP
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