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Navigation simulation system of underwater-operation-level ROV and control method thereof

A technology of underwater operation and control method, which is applied in the direction of underwater ships, general control systems, control/regulation systems, etc. It can solve the system output signal instability, non-linear problems without solutions, and no artificial control input signals Correction and other problems to achieve the effect of performance improvement and controllability

Inactive Publication Date: 2018-01-12
HARBIN ENG UNIV +2
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Invention (Application No.: CN201120405437.5) The system does not correct the artificial control input signal accepted by the system, which will cause the system output signal to be unstable, and there is no solution to the nonlinear problem

Method used

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  • Navigation simulation system of underwater-operation-level ROV and control method thereof
  • Navigation simulation system of underwater-operation-level ROV and control method thereof
  • Navigation simulation system of underwater-operation-level ROV and control method thereof

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specific Embodiment approach 1

[0056] Specific Embodiment 1: Combining Figure 1 ~ Figure 3 Describe this embodiment, the overall structure of the navigation simulation system of the underwater operation level ROV in this embodiment, including: a lower computer and an upper computer, the lower computer is used for the acquisition and processing of simulated data, the lower computer is an ROV model, and the internal components Connection structure such as figure 1 As shown, including accelerometer, gyroscope, magnetic compass, barometer and core controller, the accelerometer, gyroscope and magnetic compass are used to collect simulated ROV status information, and the barometer obtains altitude information through the measured air pressure value , to simulate the depth information measured by the depth gauge in the underwater operation level ROV; the core controller includes a GPIO port and a digital-to-analog conversion module, which is used to process the simulated ROV state information collected by the sen...

specific Embodiment approach 2

[0059] Specific Embodiment 2: Combining Figure 4 ~ Figure 8 To illustrate this embodiment, the flow of the control method implemented on the navigation simulation system of the underwater operation level ROV in Embodiment 1 is as follows: Figure 4 As shown, the specific steps include:

[0060] Step a, the lower computer device utilizes the GPIO port and the digital-to-analog conversion module inside the core controller to complete the data information acquisition tasks of the accelerometer, gyroscope, magnetic compass and barometer through the I2C data communication protocol;

[0061] Step b. After the host computer collects the above data information, use the Kalman filter algorithm to calculate the current attitude, heading, and height of the ROV model. In the data fusion scheme of the navigation attitude system, ordinary complementary filtering can be used to obtain relatively Stable attitude and heading information, but because the proportional item of complementary fil...

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Abstract

The invention relates to the technical field of remote operated vehicle control, in particular to a navigation simulation system of an underwater-operation-level ROV and a use method thereof. The navigation simulation system aims at solving the problems that when multiple sensors break down in existing control techniques, engineers can not quickly find out exceptional parts and understand the overall running condition of a system, control signals received by the system are not corrected, and therefore the output signals are not stable. The navigation simulation system comprises an upper computer and a lower computer, wherein the lower computer is used for simulating data collection treatment and sending control instruction to the underwater ROV, and the lower computer is used for analyzingand displaying data. According to the control method, a kalman filtering algorithm is adopted for conducting posture calculation, and a backstage algorithm of the upper computer is utilized to conduct noise reduction, smoothing, compensation and other treatment on signals input by a control panel of the underwater-operation-level ROV, and conduct PID and other control signal correction on outputsignals. The navigation simulation system can be used for achieving marine oil pipe repairing and other highly difficult underwater operation.

Description

technical field [0001] The invention relates to the technical field of underwater robot control, in particular to a navigation simulation system of an underwater operation level ROV and a method for using the same. Background technique [0002] Due to the rapid development of ROV technology, the structure of ROV is gradually becoming mature and industrialized. In the ocean with harsh environment and changing hydrological conditions, the water surface transmits power and control signals through the umbilical cable, and the ROV returns various parameters of the current state and executes the control signals. The upper computer of the ROV system collects the navigation protocol data uploaded underwater and decodes the various parameters referred to by the current data, and then displays them on the main control panel. In addition to collecting various parameters, the upper computer of the ROV system is also responsible for data processing. Parameter calibration and other respo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCB63G8/16B63G2008/005
Inventor 高延滨李宁波张皓渊姚贵鹏郭锐张新新
Owner HARBIN ENG UNIV
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