Cabled remote operated vehicle seabed fixed-point landing motion control method based on SI control

An underwater robot, motion control technology, applied in electric controllers, controllers with specific characteristics, adaptive control, etc., can solve problems such as economic losses, underwater structure collisions and even accidents, poor fixed-point landing accuracy, etc. The effect of improving accuracy, improving fixed-point landing accuracy, and reducing the difficulty of use

Active Publication Date: 2019-07-23
HARBIN ENG UNIV
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  • Summary
  • 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 accidents, causing serious economic losses. Proposed motion control method for submarine fixed-point landing of cabled underwater robot based on SI control

Method used

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  • Cabled remote operated vehicle seabed fixed-point landing motion control method based on SI control
  • Cabled remote operated vehicle seabed fixed-point landing motion control method based on SI control
  • Cabled remote operated vehicle seabed fixed-point landing motion control method based on SI control

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specific Embodiment approach 1

[0027] Specific implementation mode one: the specific process of the motion control method for the submarine fixed-point landing of the cabled underwater robot based on SI control in this embodiment is as follows:

[0028] (1) Definition of the coordinate system related to 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 Eη axis are placed in the horizontal plane and are perpendicular to each other, and the Eξ axis points to the true north. direction. Eζ is perpendicular to the Eξη plane, pointing to the center of the earth;

[0029] 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 respectively the intersection lines of the water plane, transverse section and middle longitudinal section passing through the origin;

[0030] (2) ROV modeling technology: based on Fossen's six-degree-of-freedom nonlinear ROV model [1]...

specific Embodiment approach 2

[0058] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the s-plane control based on step one is set up in the described step two, establishes PID control; The specific process is:

[0059] The PID control algorithm calculates the corresponding thrust according to the deviation of each quantity during the movement process. For position control, the basic requirement for the controller is to be able to control the submersible for various movements, such as obstacle avoidance and positioning. For the motion state, the requirement for the controller is to ensure that the submersible moves according to the expected speed or acceleration. For example, remote-controlled submersibles need two control methods. When the distance from the target point is far away, the submersible is required to move to the target point at a fixed speed, that is, PID control is performed according to the speed deviation; when the distance from the target poin...

specific Embodiment approach 3

[0064] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the s-plane control based on step 1 and the PID control established in step 2 in the described step 3 establish SI control; the specific process is:

[0065] The s-plane control is favored by many researchers because of its few parameters and easy adjustment. With the deepening of research, the shortcomings of s-plane control are also reflected. When s-plane control deals with complex ocean environments such as ocean currents, there will be steady-state errors. In order to solve this problem, various methods of improvement have been tried. Among them, the method of adaptively estimating the s-plane parameters to eliminate the steady-state error is the most mature. However, the s-plane control method based on adaptive estimation parameters is relatively complicated, which increases the difficulty of practical application of this improved s-plane control method. The ...

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Abstract

The invention discloses a cabled remote operated vehicle (ROV) seabed fixed-point landing motion control method based on SI control and relates to ROV seabed fixed-point landing motion control methods. The method aims to solve the problems that when an existing ROV performs seabed landing, manual operation is mostly adopted for landing, time and labor are wasted, fixed-point landing precision is poor, collision to a subsea structure and even an accident are prone to occurring, and a serious economic loss is caused. According to the specific process, the method comprises the steps that first, s-surface control is established; second, based on the s-surface control established in the first step, PID control is established; and third, based on the s-surface control established in the first step and the PID control established in the second step, SI control is established. The method is applied to the field of ROV seabed fixed-point landing motion control.

Description

technical field [0001] The invention relates to a motion control method for an underwater robot fixed-point landing on the seabed. Background technique [0002] Cabled underwater robot (Remote Operated Vehicle, referred to as ROV) is one of the important symbols of a country's marine equipment technology level. Research on related technologies of ROV has immeasurable strategic significance for national economy, utilization of seabed space, deep sea tourism, deep sea salvage and lifesaving. [0003] According to the focus of ROV research, the method of motion control of fixed-point landing on the seabed of ROV is studied. In the case of knowing the coordinates and ideal heading of the landing point, the control problem of the automatic movement of the ROV near the landing point to the landing point is studied. [0004] (1) At present, most ROVs use manual operation for landing on the seabed. This method often requires experienced operators to perform multiple reciprocating ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05D1/04G05B11/42G05B13/04
CPCG05D1/10G05D1/048G05D1/0088G05B11/42G05B13/042
Inventor 孙延超魏彤锦秦洪德陈辉李骋鹏吴哲远陈国防
Owner HARBIN ENG UNIV
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