A Dynamic Model Establishment Method for Hybrid Driving Underwater Robot
A technology of underwater robot and dynamic model, which is applied in attitude control and other directions, and can solve problems such as the influence of underwater robot dynamics that cannot be ignored
Active Publication Date: 2021-09-14
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology
However, when considering multi-propellers and six semicircular blade legs to drive the underwater robot, the hydrodynamic force caused by the rotation of the blade legs is usually large, so the dynamic influence of the legs on the underwater robot cannot be ignored
[0007] To sum up, there are the following difficulties in the dynamic modeling of a class of underwater robots driven by multi-propellers and six semicircular blade legs. 2. How to analyze the influence of hydrodynamic force, mass-supported legs and swing legs on the motion mechanism of this type of hybrid-driven underwater robot
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[0062] The present invention will be further described in conjunction with embodiment, accompanying drawing now.
[0063] figure 1 A schematic diagram of propeller installation of a hybrid drive underwater robot according to an embodiment of the present invention is shown. The hybrid drive underwater robot according to the embodiment of the present invention can have 6 thrusters, wherein, 4 are vertically installed (such as figure 1 shown), two propellers are installed horizontally (can be set on both sides of the hybrid drive underwater vehicle). It should be noted, figure 1 Only one situation where the hybrid drive underwater robot of the present invention is applicable is given, and it is not used for a restrictive description of the hybrid drive underwater robot. In actual application, the number and arrangement of propellers may be different from this.
[0064] The hybrid driving underwater robot according to the embodiment of the present invention has six semicircula...
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The invention relates to the technical field of underwater robot dynamic modeling, and provides a method for establishing a dynamic model of a hybrid-driven underwater robot. First, determine the motion parameters and degrees of freedom of the underwater robot; convert all the supporting legs into a virtual supporting leg with mass, and use the Lagrangian principle to establish a sagittal hybrid driving underwater robot under the action of hydrodynamic force and driving force. surface dynamics model; on this basis, aiming at the problem that the swing leg with mass is difficult to model, parameterize its influence on the dynamic model of the underwater robot, and establish the sagittal plane dynamics of the hybrid drive underwater robot with the swing leg with mass learning model. The dynamics model according to the present invention can reveal the movement mechanism of the hybrid drive underwater robot climbing on the wall, so as to analyze the influence of the virtual support leg and the swing leg on the hybrid drive underwater robot body, and can provide a basis for the movement of the hybrid drive underwater robot. The required control force, and laid a good foundation for the design of the controller.
Description
technical field [0001] The invention relates to the technical field of dynamic modeling of underwater robots, in particular to a method for establishing a dynamic model of a hybrid-driven underwater robot. Background technique [0002] Underwater robot is one of the important equipment for marine resource development, marine monitoring and marine ecological protection. By carrying different types of sensors and actuators, underwater robots can effectively achieve multiple tasks such as ocean exploration, development, monitoring, and reconnaissance. Collection and salvage, safety inspection of reservoir dams, ship cleaning and daily maintenance, underwater safety and other fields. [0003] When the underwater robot performs tasks such as climbing or walking on complex and uneven working surfaces such as ship sides, dams, and bridge piers, it is necessary to ensure that the underwater robot has a certain ability to overcome obstacles. As a robot with excellent obstacle-surmo...
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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 严卫生崔荣鑫陈乐鹏许晖王崇武李宏邢瑶蒋绍博张守旭
Owner NORTHWESTERN POLYTECHNICAL UNIV