Dynamic positioning method of underwater detection and working robot

Abstract

The invention discloses a method for dynamic positioning of an underwater detection and operation robot. The invention solves the problem of uncertainty caused by the interference of waves in the dynamic positioning. Combined with the developed new type of underwater detection and operation robot, it is based on fluid dynamics digital simulation. The dynamic model is established by the identification parameter method, and the six-degree-of-freedom dynamic positioning analysis is carried out. Obtain the position and heading of the underwater robot through the sensor, use the adaptive unscented Kalman filter algorithm to estimate the state of the underwater robot in real time, and use the non-singular terminal sliding mode control to compensate the thrust to reduce the random band caused by waves, etc. The force and moment distribution strategy is designed according to the positioning error. This method has a good dynamic positioning effect, and can quickly adjust the power distribution strategy after being disturbed to reduce its negative impact.

Description

technical field [0001] The invention relates to an underwater detection and operation robot, in particular to a dynamic positioning method for an underwater detection and operation robot, and belongs to the technical field of robots. Background technique [0002] With the depletion of land resources, the development and utilization of marine resources has played a huge role in promoting human development and social progress. Underwater robot (ROV), as one of the means to develop the ocean, has been receiving extensive attention and research. In recent years, most underwater robots at home and abroad only have the capability of floating or crawling, and underwater robots that can realize the two modes of floating and climbing walls are relatively rare. The underwater detection and operation robot is a novel modular, multi-functional, remote-controlled underwater robot with cables, which can freely switch between floating and crawling modes, and perform underwater operations,...

AI Technical Summary

Problems solved by technology

The patent document with the application number "201410090281.4" discloses a "control method and control system for ship dynamic positioning system", but the PID control algorithm adopted has poor convergence, which makes the ship approach the target point slowly and is prone to Oscillation; the patent document with the application number "201510016643.X" discloses "a ship dynamic positioning method based on an improved strong tracking filter state observer", the robustness of the improved strong tracking filter state observer is relatively Poor, the accuracy of state estimation is not high, and problems such as divergence are prone to occur

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