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Saturation control method of seafloor accuracy landing of tethered cabled underwater robot based on sliding mode technology

A technology of underwater robot and control method, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as economic loss, underwater structure collision or even accident, time-consuming and labor-intensive, etc., to improve accuracy, improve The effect of fixed-point landing accuracy

Active Publication Date: 2019-07-12
HARBIN ENG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problem that most of the existing ROVs use manual operation for landing on the seabed, which is time-consuming and laborious, and the precision of fixed-point landing is poor, and it is easy to collide with underwater structures or even cause serious economic losses. A Saturation Control Method for Seabed Fixed-point Landing of a Cabled Underwater Robot Based on Sliding Mode Technology

Method used

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  • Saturation control method of seafloor accuracy landing of tethered cabled underwater robot based on sliding mode technology
  • Saturation control method of seafloor accuracy landing of tethered cabled underwater robot based on sliding mode technology
  • Saturation control method of seafloor accuracy landing of tethered cabled underwater robot based on sliding mode technology

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specific Embodiment approach 1

[0040] Embodiment 1: The specific process of the saturation control method for the fixed-point landing of the cabled underwater robot based on the sliding mode technology in this embodiment is as follows:

[0041] (1) Definition of the relevant coordinate system for ROV research: inertial coordinate system (E-ξηζ): the origin E can be selected at a certain point on the sea surface, the Eξ axis and the Eη axis are placed in the horizontal plane and are perpendicular to each other, and the Eξ axis is positive pointing to the north direction. Eζ is perpendicular to the Eξη plane, pointing to the center of the earth;

[0042] Motion coordinate system G-xyz: the origin G is taken at the center of gravity of the ROV, and the x-axis, y-axis and z-axis are the intersection lines of the water plane, transverse section and mid-longitudinal section passing through the origin respectively;

[0043] (2) ROV modeling technology: Fossen-based six-degree-of-freedom nonlinear ROV model [1] ([...

specific Embodiment approach 2

[0068] Embodiment 2, the difference between this embodiment and Embodiment 1 is that: the expression of the conversion matrix J for converting the inertial coordinate system to the motion coordinate system in the step 1 is:

[0069]

[0070] in,

[0071]

[0072]

[0073] In the formula, s' is the sine function sin; c' is the cosine function cos; t' is the tangent function tan; is the displacement transformation matrix, and T' is the attitude transformation matrix.

[0074] Other steps and parameters are the same as in the first embodiment.

specific Embodiment approach 3

[0075] Embodiment 3, the difference between this embodiment and Embodiment 1 or 2 is that: in step 2, an improved sliding mode variable structure control is established based on step 1; the specific process is:

[0076] Sliding mode variable structure control has the advantages of fast response and insensitivity to parameter changes and disturbances, and has been favored by the majority of scientific researchers in recent years. However, due to the existence of chattering problems, sliding mode variable structure control has been continuously improved. Until today, the chattering problem is still a research hotspot of sliding mode variable structure control. Reference [2] ([2]Tanakitkorn K, Wilson PA, Turnock S R, et al. Sliding mode heading control of an over actuated, hover-capable autonomous underwater vehicle with experimental verification [J]. Journal of Field Robotics, 2017.) An idea of ​​approximating the sign function using the hyperbolic tangent function is proposed ...

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Abstract

The invention relates to a saturation control method of seafloor accuracy landing of a tethered cabled underwater robot based on a sliding mode technology. The problems that time and energy are wasted, precision of accuracy landing is poor, it is prone to collision and even accident with underwater structures, and serious economic losses are caused due to the fact that most landing is manual whenan existing ROV lands on the seafloor are solved. The saturation control method has the specific processes that 1, a ROV model is established; 2, improved sliding mode variable structure control is established based on the step 1; 3, an input saturation function is introduced based on the step 1 and the step 2; and 4, improved sliding mode variable structure control considering saturation is established based on the step 1, the step 2 and the step 3. The saturation control method is used in the field of saturation control of seafloor accuracy landing of the tethered cabled underwater robot.

Description

technical field [0001] The invention relates to a saturation control method for a fixed-point landing on the seabed of an underwater robot. Background technique [0002] Cabled underwater vehicle (Remote Operated Vehicle, ROV for short) is one of the important symbols of the technical level of a country's marine equipment. The research on ROV-related technologies has immeasurable strategic significance to the national economy, seabed space utilization, deep-sea tourism, deep-sea salvage and lifesaving. [0003] In line with the hotspot of ROV research, the method of motion control of ROV seabed fixed-point landing is studied. The control problem of the automatic movement of ROV near the landing point to the landing point is studied under the condition that the coordinates of the landing point and the ideal heading are known. [0004] (1) At present, most of ROVs use manual operation for landing on the seabed. This method often requires experienced operators to reciprocate ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙延超魏彤锦秦洪德张栋梁张佩张子洋李凌宇
Owner HARBIN ENG UNIV
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