Underwater auxiliary oil recovery control system and dynamic positioning method thereof

Abstract

The invention discloses an underwater auxiliary oil recovery control system and a dynamic positioning method thereof. Focusing on an uncertainty problem that a motion of the underwater auxiliary oil recovery robot is interfered by ocean current, combining the manufactured underwater auxiliary oil recovery robot, the invention establishes a dynamical model based on a fluid dynamic numerical simulation identification parameter method and performs six-degree-of-freedom dynamic positioning analyzing. A position and a heading of the underwater auxiliary oil recovery robot are obtained by a sensor;a state of the underwater robot is estimated in real time by adopting an adaptive unscented Kalman particle filtering algorithm based on a hybrid genetic algorithm-Markov chain Monte Carlo method (GA-MCMC); a fast terminal reaching law is introduced into a non-singular fast terminal sliding mode control to compensate thrust, so that influence caused by interference such as the ocean current is reduced; and then a force and torque distribution strategy is designed according to a positioning error. The method has a good dynamic positioning effect, and can quickly adjust the dynamic distributionstrategy after being interfered in order to reduce the interference impact caused by random ocean current.

Description

technical field [0001] The invention relates to an underwater auxiliary oil recovery robot, in particular to a control system and a dynamic positioning method of an underwater auxiliary oil recovery robot, belonging to the technical field of robots. Background technique [0002] The development of offshore oil and gas resources, from exploration, drilling, extraction to crude oil transportation, requires a large number of underwater equipment installation, maintenance and repair tasks, and the underwater operation technology is complex and requires high precision. Underwater oil and gas equipment has the characteristics of high integration, heavy weight, complex structure, and high cost. Unmanned remote operated vehicle (Remote Operated Vehicle, ROV) is one of the essential equipment for underwater operations and emergency maintenance of offshore oil and gas fields. Undertake underwater search and observation, subsea wellhead docking, blowout preventer installation, subsea o...

AI Technical Summary

Problems solved by technology

The application number is "201510107334.3", and the patent document titled "A Water Surface Control Device for an Underwater Robot" does not take into account the preservation of the video captured by the camera. After the underwater robot experiment is over, it is impossible to analyze the performance of the robot and observe information about underwater life

The application number is "201610952988.0", and the patent document titled "A Submarine Pipeline Inspection Underwater Robot" does not mention the design of underwater lights and underwater cameras in the detection device, and there is no underwater light irradiation and camera shooting. Surface operators cannot manipulate the movement of manipulators and robots according to actual conditions

The application number is "201610124928.X", and the patent document titled "Adaptive filtering method for tracking environmental force mutations in dynamic positioning" does not consider the complexity of the ocean situation and the inaccuracy of the disturbance model, resulting in the accuracy of dynamic positioning. not tall

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