Micro underwater robot multidisciplinary optimization design method

Abstract

The invention relates to a micro underwater robot multidisciplinary optimization design method. The optimization design method comprises the following steps of 1, mathematical models of all disciplines and a kinematics model of the whole robot being established respectively; 2, completing multidisciplinary optimization of the micro underwater robot, introducing a global variable with layering, constructing an approximate model of each disciplinary based on test design under an improved AAO framework, completing optimization under an isight software platform, and obtaining a feasible solution of multidisciplinary optimization of the micro underwater robot; 3, performing performance evaluation on a feasible solution obtained by multidisciplinary optimization, completing performance evaluation of the robot under an improved analytic hierarchy process, and obtaining a final scheme from the performance evaluation; and 4, completing three-dimensional modeling of the micro underwater robot, and carrying out simulation verification on the robot. According to the method, a problem of poor integrity in a traditional serial design mode is solved, and meanwhile, problems of an existing AAO algorithm are also solved.

Description

technical field [0001] The invention relates to a multidisciplinary optimization design method based on a miniature underwater robot, and belongs to the technical field of underwater robots. Background technique [0002] In the 21st century, marine resources are playing an increasingly important role, and it is of far-reaching significance to increase the research on underwater robots. Micro underwater robots have unique advantages in terms of portability, economy, stealth, etc., and have broad application prospects in both military and civilian fields. [0003] Underwater robots are usually divided into remote-controlled underwater vehicles (ROV), unmanned unmanned underwater vehicles (UUV), and autonomous underwater vehicles (AUV). As autonomous underwater robots, AUVs are first input by humans. Corresponding programs, and then replace humans to complete some tasks that are difficult or impossible for humans, have been widely used at present. In the field of autonomous u...

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Problems solved by technology

[0006] The purpose of the present invention is to propose a multi-disciplinary optimal design method for micro-miniature underwater robots, aiming at the shortcomings of traditional design patterns, to complete the overall design of micro-miniature underwater robots through multi-disciplinary optimal design methods to solve the traditional serial design mode Among them, each discipline is isolated and the integrity is poor, and it also solves the problems existing in the existing AAO algorithm

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