Underwater robot six-degree-of-freedom dynamic positioning thrust distribution optimization method based on genetic algorithm

An underwater robot, thrust distribution technology, applied in the direction of instruments, non-electric variable control, height or depth control, etc., can solve problems such as complex realization, and achieve the effect of reducing coupling

Active Publication Date: 2018-11-13
HARBIN ENG UNIV
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Problems solved by technology

This arrangement has two output quantities of thrust and thruster rotation angle during thrust distribution, and its constraints are nonlinear, which is relatively complicated to implement

Method used

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  • Underwater robot six-degree-of-freedom dynamic positioning thrust distribution optimization method based on genetic algorithm
  • Underwater robot six-degree-of-freedom dynamic positioning thrust distribution optimization method based on genetic algorithm
  • Underwater robot six-degree-of-freedom dynamic positioning thrust distribution optimization method based on genetic algorithm

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Embodiment Construction

[0036] The present invention will be further described below in conjunction with accompanying drawing:

[0037] as attached figure 1 As shown, it is a schematic diagram of propeller layout of the present invention; propeller ① is installed on the left side of the robot, which can generate forward or backward horizontal thrust when it is placed horizontally, and can generate upward or backward thrust when it is rotated to a vertical state. Downward thrust produces thrust in both the longitudinal and vertical positions when the propeller is rotated to an intermediate position. The same is true for the propeller ② on the right side. When the thrust provided by the left and right propellers in the vertical direction is not equal, the robot's rolling motion can be realized. Also for the front and rear propellers ③, ④, they can provide thrust in both horizontal and vertical directions. When the propellers ③ and ④ provide different thrusts in the vertical direction, they can provid...

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Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to an underwater robot six-degree-of-freedom dynamic positioning thrust distribution optimization method based on a genetic algorithm. The method comprises the following steps that the underwater robot working mode is determined according to the input quantity, a thrust distribution model is established, the complex constraint condition is simplified according to the spatial arrangement characteristics and genetic algorithm dimension reduction is realized; the size and the rotation angle of the propellers are set and the optimization objective is set; and the problem of thrust distribution optimization is solved by using the genetic algorithm, and the dimension reduction matrix is inversely solved so as to solve the thrust and the rotation angle of each propeller. The constraint of thrust distribution is enhanced to the six degree of freedom from the four degree of freedom; the problem of the difficulty of solving the nonlinear joint constraint of the conventional method can be avoided by using the genetic algorithm; and the dimension reduction method is put forward in thrust distribution and the solving accuracy can be enhanced and the calculation speed can be accelerated so that thrust distribution fast solving and optimization of energy consumption reduction under the condition of thesix-degree-of-freedom constraint can be realized.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, in particular to a genetic algorithm-based six-degree-of-freedom dynamic positioning thrust distribution optimization method for an underwater robot. technical background [0002] Underwater robots are more and more widely used in underwater detection and underwater operation tasks. For general underwater robots, it is usually only necessary to control the forward direction, head turning and depth. However, due to the need to perform more complex tasks, underwater robots are required to be able to achieve precise control of six degrees of freedom. Generally, an underwater robot with six degrees of freedom dynamic positioning needs to be equipped with at least six propellers to generate translation and rotation in three linear directions. In order to achieve precise control and obtain better positioning effects, most robots are equipped with more thrusters, and the thrust distribution ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 张国成王元庆孙玉山唐同泽王占缘张宸鸣马陈飞吴新雨
Owner HARBIN ENG UNIV
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