Multifunctional portable ROV simulation controller considering fluid memory effect and simulation method

Abstract

The invention discloses a multifunctional portable ROV simulation controller considering a fluid memory effect and a simulation method, and relates to the field of underwater intelligent equipment. According to the ROV simulation controller, the problems that in the prior art, most ROV simulation controllers are complex in operation, not concentrated in equipment, not easy to carry, backward in related software development and the like are solved, components in the ROV simulation controller are designed in a combined mode, and on the premise that ergonomics is combined, underwater ROV related function modules are clearly partitioned. An ROV kinematics and dynamics model is established according to the impulse response relation between the viscous hydrodynamic force speed and the load, a yaw hydrodynamic model considering the fluid memory effect and a modeling method are provided, and ROV hydrodynamic force phase lag and amplitude increase caused by the fluid memory effect in horizontal plane and vertical plane yaw motion are calculated; and the device is also suitable for quickly improving the operation skill and the operation level of operators so as to adapt to different underwater hydrological environments.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater intelligent equipment. Background Art

[0002] As a treasure land and high-tech field that has not yet been fully developed by mankind, the deep sea has become an important strategic goal of various countries and one of the focuses of fierce international competition. As a future development direction, the importance of underwater robot-related technologies in the field of ocean development and utilization is no less than that of outer space development.

[0003] Underwater robot control technology is the core technology of underwater exploration. Most of the existing cable-controlled remote-controlled underwater robots (ROV) simulation controllers have problems such as complex operation, uncentralized equipment, difficulty in carrying, and backward development of related software. Since underwater robot-related technologies are relatively sensitive, there are few research solutions on ROV simulation controllers in the existing technology.

[0004] Patent document CN 116011294A discloses a method for building a six-degree-of-freedom ROV operation simulation platform, which is used to solve the problems of existing ROV simulation and operation simulation systems, such as the limitations of operation scenarios, lack of ROV operation influencing factors, unrealistic ROV motion response, and the dependence of the hydrodynamic coefficients of ROV deployment operations on the structural forms of ROV and TMS. Existing studies rarely consider the dynamics of complex structures, but there is also the problem of being difficult to carry.

[0005] Patent document CN 18332944A discloses a modeling method for a six-degree-of-freedom ROV hydrodynamic model taking into account the fluid memory effect. Although it can take into account the influence of motion history and the hydrodynamic amplitude and phase changes caused by the fluid memory effect, it cannot solve the problem of hydrodynamic asymmetry and fluid memory effect asymmetry caused by the irregular ROV structure. Summary of the invention

[0006] The present invention solves the problems that most ROV simulation controllers in the prior art have, such as complex operation, uncentralized equipment, difficulty in carrying, and backward development of related software. To solve the above technical problems, the present invention is implemented through the following technical solutions:

[0007] The present invention proposes a multifunctional portable ROV simulation controller taking into account the fluid memory effect, wherein the ROV simulation controller comprises an upper box, a lower box and a simulation function module.

[0008] The upper box body and the lower box body are connected by hinges;

[0009] An upper panel is embedded in the upper box body, and two monitoring screens are arranged on the upper panel, one of which is used to monitor the comprehensive management display interface, and the other is used to monitor the visual display interface;

[0010] A lower panel is embedded in the lower box body, and at least one operation control unit is arranged on the lower panel, and the operation control unit is used for operators to simulate operation and data interaction;

[0011] A simulation function module is arranged between the lower box body and the lower panel.

[0012] Furthermore, a preferred embodiment is provided, wherein the two monitoring screens are fixed to the upper panel by bolt connection, and a plurality of mounting bases are arranged on the top of the upper box body, which are connected to the upper panel and fixed to the bases by bolts.

[0013] Furthermore, a preferred embodiment is provided, wherein the upper box and the lower box are provided with a Type-C data cable for data transmission and power supply.

[0014] Further, a preferred embodiment is provided, wherein a spare parts box, a display screen, an operation panel, and a metal keyboard are also provided on the lower panel;

[0015] The spare parts box is used to place the power cord;

[0016] The display screen is used to display the working environment and parameter input;

[0017] The operation panel and the metal keyboard are used for operators to simulate operations.

[0018] Furthermore, a preferred embodiment is provided, wherein the simulation function module includes a power supply, and the power supply is respectively connected to an integrated mainboard, an adapter, a power radiator, an integrated central processing unit, a hard disk, a wireless router, and a computer power adapter expansion dock in the multifunctional portable ROV simulation controller, and the hard disk stores motion simulation software and simulation control software, and the programs in the motion simulation software and simulation control software respectively communicate in real time with the simulator through a distributed operating environment.

[0019] Furthermore, a preferred embodiment is provided, wherein a main power interface is also provided on the operation panel, a main switch button is connected below the main power interface, RS485 interfaces are arranged side by side on the left side of the main power interface, three USB expansion interfaces are arranged side by side on the left side of the RS485 interface, a switch and a lighting indicator are arranged on the left side of the USB expansion interface, a communication indicator is arranged on the left side of the switch and the lighting indicator, a debugging interface is arranged on the left side of the communication indicator, a self-locking vertical direction control single-axis rocker is arranged below the debugging interface, a claw switch is arranged on the right side of the vertical direction control single-axis rocker, a telescopic control rocker is arranged on the right side of the claw switch, a sealed conversion rotary switch is arranged on the right side of the telescopic control rocker, a ZOOM self-resetting switch is arranged on the right side of the sealed conversion rotary switch, and a horizontal direction control three-axis rocker is arranged on the right side of the ZOOM self-resetting switch.

[0020] Furthermore, a preferred embodiment is provided, wherein a fine-tuning button is also provided on the operation panel, and the fine-tuning button is provided in the middle position of the operation panel and is located on the left side of the horizontal direction control three-axis joystick.

[0021] Solution 2: A simulation method for a multifunctional portable ROV simulation controller taking into account the fluid memory effect. The modeling method is implemented based on the device described in Solution 1. The simulation method for the ROV simulation controller comprises the following steps:

[0022] S1, the horizontal three-axis rocker and the self-locking vertical control self-locking single-axis rocker are used to generate an electrical signal of the motion state of the cable robot ROV, and the electrical signal is sent to the ROV operation motion simulation system through the TTL serial communication protocol. The ROV operation motion simulation parses the output encoded electrical signal and generates the ROV posture gain;

[0023] S2, the ROV operation motion simulation software calculates the thruster thrust τ according to the generated ROV posture gain, inputs the thruster thrust τ into the ROV kinematics and dynamics model, and solves the motion speed in the ROV kinematics and dynamics model, so that the operator can control the motion of the ROV simulation controller in the loop;

[0024] S3, claw switch, telescopic control rocker, sealed conversion rotary switch and ZOOM self-reset switch are respectively used to send the encoded end effector opening or closing electrical signal, end effector extension or retraction electrical signal, rotation joint electrical signal, joint position initialization electrical signal to the ROV operation motion simulation system through RS485 serial communication protocol. The ROV operation motion simulation software extracts the joint information and sends the joint information to the operation tool dynamics model to control the lifting and lowering of the ROV simulation controller and the retraction and extension of the manipulator, that is, to realize the simulation of the ROV simulation controller and the operator in the loop.

[0025] Furthermore, a preferred embodiment is provided, wherein after constructing the ROV kinematic and dynamic model in S2, the step of calculating the ROV viscous hydrodynamic coefficients D1 and D2 is also included.

[0026] Further, a preferred embodiment is provided, the method for calculating the ROV viscous hydrodynamic coefficient D1 is:

[0027]

[0028]

[0029] Among them, X1, Y1, Z1, K1, M1, and N1 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity uncoupled viscous hydrodynamic force and moment, respectively; X uu , Y uu , Z uu , K uu 、M uu 、N uu The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by longitudinal motion; X vv , Y vv , Z vv 、M vv 、N vv X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by lateral motion; ww , Y ww , Z ww , K ww 、M ww 、N ww X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; p , Y p , Z p , K p 、M p 、N p X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by rolling motion; q , Yq , Z q , K q 、M q 、N q X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitch motion; r , Y r , Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by the yaw motion; are the longitudinal, lateral and vertical displacements related to the longitudinal velocity u, lateral velocity v, vertical velocity w, time t and ROV length L respectively; τ0 is the integral variable; p, q, r are the roll, pitch and angular velocity of the ROV respectively; Φ ιj (ι=1...6,j=1...6) is the response function of the velocity-uncoupled viscous hydrodynamic force in the j direction caused by the motion in the ι direction, and the subscripts 1 to 6 represent the longitudinal, lateral, vertical, roll, pitch, and heading directions, respectively;

[0030] The method for calculating the ROV viscous hydrodynamic coefficient D2 is:

[0031] D2=[X2,Y2,Z2,K2,M2,N2] T (3)

[0032]

[0033] Among them, X2, Y2, Z2, K2, M2, and N2 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity-coupled viscous hydrodynamic forces and moments, respectively; X uv , Y uv , Z uv , K uv 、M uv 、N uv is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the horizontal plane yaw motion; X uw , Y uw , Z uw , K uw 、M uw 、N uw τ is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the yaw motion in the vertical plane; u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable of Σuv, (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the horizontal plane yaw motion; Φ Σuw , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the yaw motion in the vertical plane;

[0034] Each term in D2 is Γ, and Γ uv represents the velocity-coupled viscous hydrodynamic coefficient, and the modeling method for each Γ is,

[0035] When the ROV has initial longitudinal and lateral velocities u0 and v0, Γ is expressed as:

[0036]

[0037] Let the convergence factor in the integrand be And taking the limit along the real positive axis as some small quantity ε→0, we have,

[0038]

[0039] Where i is the imaginary unit; (κ=u,v,uv) is a κ is the amplitude, is the complex number of the argument, F κ is the real part of the complex number, G κ is the imaginary part of the complex number; is the dimensionless expression of the longitudinal and lateral motion frequencies ω1 and ω2, U is the average velocity, and for and is the speed of ROV, considering condition (6), equation (5) can be written as:

[0040]

[0041] C κ Substitute into equation (7) and take the real part, when t→+∞, we have

[0042]

[0043] The left side of the equal sign in formula (8) is the hydrodynamic force, and the right side of the equal sign is A κ and The hydrodynamic results of the yaw pulse motion response experiment and its numerical simulation can be used to obtain the least square method, and the last term in equation (8) can be used to calculate Φ Xuv for:

[0044]

[0045] The present invention is beneficial in that:

[0046] The present invention adopts the pulse response relationship between viscous hydrodynamic velocity and load to establish an ROV kinematic and dynamic model. The model can consider the influence of fluid memory effect on ROV hydrodynamics, and proposes a yaw hydrodynamic model and modeling method considering the fluid memory effect. Compared with the model with only velocity uncoupled hydrodynamics, the ROV hydrodynamic phase lag and amplitude increase caused by the fluid memory effect in the yaw motion of the horizontal and vertical planes can be calculated.

[0047] The present invention proposes a six-degree-of-freedom viscous hydrodynamic model that takes into account the fluid memory effect. The hydrodynamics of each degree of freedom includes the influence of the motion speed on all six degrees of freedom, and can take into account the hydrodynamic asymmetry and fluid memory effect asymmetry caused by the irregular ROV structure.

[0048] The present invention combines and designs the components in the multifunctional portable ROV simulation controller taking into account the fluid memory effect, and makes the underwater ROV related functional modules clearly divided and the structure optimized under the premise of combining ergonomics, so that the simulation controller is easy to operate; the overall structure of the simulator is compactly arranged, so that the simulator occupies a small space and is easy to transport and carry;

[0049] All operation buttons of the multifunctional portable ROV simulation controller considering the fluid memory effect described in the present invention are imitated according to the real ROV operation control buttons, thereby increasing the authenticity of the operation of the operators.

[0050] The present invention enables the ROV simulator to accurately simulate various underwater environments and weather conditions through the development of relevant software and the construction of simulation modules, and real-time data transmission between the operating console and the visual software enhances the visual experience of the operators.

[0051] The present invention is also suitable for rapidly improving the operating skills and operating level of operators to adapt to different underwater hydrological environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a schematic structural diagram of a multifunctional portable ROV simulation controller taking into account the fluid memory effect as described in Implementation Method 1.

[0053] Figure 2 This is a diagram showing the internal structure layout of the lower panel in a multifunctional portable ROV simulation controller that takes into account the fluid memory effect as described in Implementation Method 1.

[0054] Figure 3 This is a schematic diagram of the internal structure of a multifunctional portable ROV simulation controller that takes into account the fluid memory effect as described in Implementation Method 1.

[0055] Figure 4This is a schematic diagram of the structural layout of the operating panel of a multifunctional portable ROV simulation controller taking into account the fluid memory effect as described in Implementation Method 1.

[0056] Figure 5 This is a structural block diagram of a multifunctional portable ROV simulation controller taking into account the fluid memory effect as described in implementation mode 1.

[0057] Figure 6 Schematic diagram of the change of the D1 uncoupled viscous hydrodynamic coefficient described in Implementation Example 9.

[0058] Figure 7 This is a curve diagram of the change of the D1 uncoupled viscous hydrodynamic response function described in Implementation Example 9.

[0059] Figure 8 Schematic diagram of the change of the D2 coupled viscous hydrodynamic coefficient described in Implementation Example 9.

[0060] Fig. 9 Schematic diagram of the change of the D2-coupled viscous hydrodynamic response function described in Implementation Example 9.

[0061] In the figure, the lower panel 1; the metal keyboard 2; the display screen 3; the spare parts box 4; the operation panel 5; the upper panel 6; the circuit board 7; the main power interface 8; the computer power adapter expansion dock 9; the wireless router 10; the lighting indicator light 11; the communication indicator light 12; the self-locking vertical direction control single-axis joystick 13; the horizontal direction control three-axis joystick 14; the fine-tuning button 15; the claw switch 16; the telescopic control joystick 17; the sealed conversion rotary switch 18; the ZOOM self-reset switch 19; the USB expansion interface 20; the RS485 interface 21; the debugging interface 22; the main switch button 23; the monitoring screen 24; the opening hole 25; the upper box 26; the lower box 27; the integrated central processing unit 28; the power radiator 29; the power supply 30; the adapter 31; the hard disk 32; the aluminum plate 33; the heat dissipation hole 34; the main keel 35; the metal cover 36; the bolt group 37.

[0062] Figure 6 In the figure, (a) nonlinear hydrodynamic coefficient, (b) linear hydrodynamic coefficient.

[0063] Figure 7 Among them, (a) longitudinal force response function, (b) lateral force response function, (c) vertical force response function, (d) roll moment response function, (e) pitch moment response function, (f) heading moment response function.

[0064] Figure 8 In the figure, (a) the coupled hydrodynamic coefficient of the horizontal plane, (b) the coupled hydrodynamic coefficient of the vertical plane;

[0065] Fig. 9Among them, (a) positive yaw longitudinal coupled hydrodynamic response function, (b) positive yaw lateral coupled hydrodynamic response function, (c) positive yaw vertical coupled hydrodynamic response function, (d) negative yaw longitudinal coupled hydrodynamic response function, (e) negative yaw lateral coupled hydrodynamic response function, (f) negative yaw vertical coupled hydrodynamic response function. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the implementation methods of the present application clearer, the technical solutions in the implementation methods of the present application will be clearly and completely described below in conjunction with the drawings in the implementation methods of the present application. Obviously, the described implementation methods are only part of the implementation methods of the present application, not all of the implementation methods.

[0067] Embodiment 1: This embodiment provides a multifunctional portable ROV simulation controller taking into account the fluid memory effect. The ROV simulation controller includes an upper box 26, a lower box 27 and a simulation function module.

[0068] The upper box body 26 and the lower box body 27 are connected by hinges;

[0069] An upper panel 6 is embedded in the upper box 26, and two monitoring screens 24 are arranged on the upper panel 6, wherein one monitoring screen 24 is used for monitoring the comprehensive management display interface, and the other monitoring screen 24 is used for monitoring the visual display interface;

[0070] The lower box 27 is embedded in a lower panel 1, and at least one operation control unit is arranged on the lower panel 1, and the operation control unit is used for operators to simulate operation and data interaction;

[0071] A simulation function module is arranged between the lower box body 27 and the lower panel 1 .

[0072] Embodiment 2. This embodiment is a further limitation of the multifunctional portable ROV simulation controller taking into account the fluid memory effect described in embodiment 1. The two monitoring screens 24 are fixed to the upper panel 6 by bolts, and a plurality of mounting bases are arranged on the top of the upper box body 26, which are connected to the upper panel 6 by bolts and fixed on the bases.

[0073] Embodiment 3: This embodiment further limits the multifunctional portable ROV simulation controller taking into account the fluid memory effect described in embodiment 1. The upper box 26 and the lower box 27 are provided with a Type-C data cable for data transmission and power supply.

[0074] Embodiment 4: This embodiment is a further limitation of the multifunctional portable ROV simulation controller considering the fluid memory effect described in Embodiment 1. A spare parts box 4, a display screen 3, an operation panel 5, and a metal keyboard 2 are also provided on the lower panel 1;

[0075] The spare parts box 4 is used to place the power cord;

[0076] The display screen 3 is used to display the working environment and parameter input;

[0077] The operation panel 5 and the metal keyboard 2 are used for operators to simulate operations.

[0078] Embodiment 5. This embodiment is a further limitation of the multifunctional portable ROV simulation controller taking into account the fluid memory effect described in embodiment 1. The simulation function module includes a power supply 30, and the power supply 30 is respectively connected to the integrated mainboard 7, adapter 31, power radiator 29, integrated central processing unit 28, hard disk 32, wireless router 10, and computer power adapter docking station 9 in the multifunctional portable ROV simulation controller. The hard disk 32 stores motion simulation software and simulation control software. The programs in the motion simulation software and simulation control software respectively communicate with the simulator in real time through a distributed operating environment.

[0079] Embodiment 6. This embodiment is a further limitation of the multifunctional portable ROV simulation controller taking into account the fluid memory effect described in embodiment 4. A main power interface 8 is also provided on the operation panel 5, and a main switch button 23 is connected below the main power interface 8. An RS485 interface 21 is arranged side by side on the left side of the main power interface 8, and three USB expansion interfaces 20 are arranged side by side on the left side of the RS485 interface 21. A switch and an indicator light 11 are arranged on the left side of the USB expansion interface 20, and a communication indicator 23 is arranged on the left side of the switch and the indicator light 11. A communication indicator light 12 is provided on the left side of the communication indicator light 12, a debugging interface 22 is provided on the lower side of the debugging interface 22, a claw switch 16 is provided on the right side of the self-locking vertical direction control single-axis rocker 13, a telescopic control rocker 17 is provided on the right side of the claw switch 16, a sealed conversion rotary switch 18 is provided on the right side of the telescopic control rocker 17, a ZOOM self-resetting switch 19 is provided on the right side of the sealed conversion rotary switch, and a horizontal direction control three-axis rocker 14 is provided on the right side of the ZOOM self-resetting switch 19.

[0080] Embodiment 7. This embodiment is a further limitation of the multifunctional portable ROV simulation controller taking into account the fluid memory effect described in Embodiment 6. A fine-tuning button 15 is also provided on the operating panel 5. The fine-tuning button 15 is arranged in the middle position of the operating panel 5 and is located on the left side of the horizontal direction control three-axis joystick 14.

[0081] Embodiment 8: This embodiment proposes a simulation method of a multifunctional portable ROV simulation controller taking into account the fluid memory effect. The modeling method is implemented based on the device described in embodiment 1. The simulation method of the ROV simulation controller includes the following steps:

[0082] S1, the horizontal three-axis rocker 14 and the self-locking vertical direction control self-locking single-axis rocker 13 are used to generate an electrical signal of the motion state of the cable robot ROV, and the electrical signal is sent to the ROV operation motion simulation system through the TTL serial communication protocol. The ROV operation motion simulation parses the output encoded electrical signal and generates the ROV posture gain;

[0083] S2, the ROV operation motion simulation software calculates the thruster thrust τ according to the generated ROV posture gain, inputs the thruster thrust τ into the ROV kinematics and dynamics model, and solves the motion speed in the ROV kinematics and dynamics model, so that the operator can control the motion of the ROV simulation controller in the loop;

[0084] S3, claw switch 16, telescopic control rocker 17, sealed conversion rotary switch 18 and ZOOM self-reset switch 19 are respectively used to send the encoded end effector opening or closing electrical signal, end effector extension or retraction electrical signal, rotation joint electrical signal, joint position initialization electrical signal to the ROV operation motion simulation system through RS485 serial communication protocol. The ROV operation motion simulation software extracts the joint information and sends the joint information to the operation tool dynamics model for controlling the lifting and lowering of the ROV simulation controller and the retraction and extension of the manipulator, that is, to realize the simulation of the ROV simulation controller and the operator in the loop.

[0085] Implementation method nine: This implementation method further limits the simulation method of the multifunctional portable ROV simulation controller taking into account the fluid memory effect described in implementation method eight. After constructing the ROV kinematic and dynamic model in S2, it also includes the step of calculating the ROV viscous hydrodynamic coefficients D1 and D2.

[0086] Embodiment 10. This embodiment further limits the simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect described in embodiment 9. The method for calculating the ROV viscous hydrodynamic coefficient D1 is:

[0087] D1=[X1,Y1,Z1,K1,M1,N1] T (1)

[0088]

[0089] Among them, X1, Y1, Z1, K1, M1, and N1 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity uncoupled viscous hydrodynamic force and moment, respectively; X uu , Y uu , Z uu , K uu 、M uu 、N uu The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by longitudinal motion; X vv , Y vv , Z vv , K vv 、M vv 、N vv X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by lateral motion; ww , Y ww , Z ww , K ww 、M ww 、N ww X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; p , Y p , Z p , K p 、M p 、N p X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by rolling motion; q , Y q , Z q , K q 、M q 、N q X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitch motion; r , Y r , Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by the yaw motion; are the longitudinal, lateral and vertical displacements related to the longitudinal velocity u, lateral velocity v, vertical velocity w, time t and ROV length L respectively; τ0 is the integral variable; p, q, r are the roll, pitch and angular velocity of the ROV respectively; Φ ιj (ι=1...6,j=1...6) is the response function of the velocity-uncoupled viscous hydrodynamic force in the j direction caused by the motion in the ι direction, and the subscripts 1 to 6 represent the longitudinal, lateral, vertical, roll, pitch, and heading directions, respectively;

[0090] The method for calculating the ROV viscous hydrodynamic coefficient D2 is:

[0091] D2=[X2,Y2,Z2,K2,M2,N2] T (3)

[0092]

[0093] Among them, X2, Y2, Z2, K2, M2, and N2 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity-coupled viscous hydrodynamic forces and moments, respectively; X uv , Y uv , Z uv , K uv 、M uv 、N uv is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the horizontal plane yaw motion; X uw , Y uw , Z uw , K uw 、M uw 、N uw τ is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the yaw motion in the vertical plane; u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable of Σuv , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the horizontal plane yaw motion; Φ Σuw , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the yaw motion in the vertical plane;

[0094] Each term in D2 is Γ, and Γ uv represents the velocity-coupled viscous hydrodynamic coefficient, and the modeling method for each Γ is,

[0095] When the ROV has initial longitudinal and lateral velocities u0 and v0, Γ is expressed as:

[0096]

[0097] Let the convergence factor in the integrand be And taking the limit along the real positive axis as some small quantity ε→0, we have,

[0098]

[0099] Where i is the imaginary unit; (κ=u,v,uv) is a κ is the amplitude, is the complex number of the argument, F κ is the real part of the complex number, G κ is the imaginary part of the complex number; is the dimensionless expression of the longitudinal and lateral motion frequencies ω1 and ω2, U is the average velocity, and for and is the speed of ROV, considering condition (6), equation (5) can be written as:

[0100]

[0101] C κ Substitute into equation (7) and take the real part, when t→+∞, we have

[0102]

[0103] The left side of the equal sign in formula (8) is the hydrodynamic force, and the right side of the equal sign is A κ and The hydrodynamic results of the yaw pulse motion response experiment and its numerical simulation can be used to obtain the least square method, and the last term in equation (8) can be used to calculate Φ Xuv for:

[0104]

[0105] Implementation eleven: This implementation provides an example, which is used to explain the above implementation. The example includes:

[0106] A multifunctional portable ROV simulation controller considering the fluid memory effect includes an upper box 26 and a lower box 27, which are connected by a hinge and a data cable, wherein an upper panel 6 is embedded in the upper box 26, and two parallel monitoring screens 24 are arranged on the upper panel 6, wherein one monitoring screen 24 is used as a comprehensive management display interface, and the other monitoring screen 24 is used as a visual display interface. A lower panel 1 is embedded in the lower box 27, and a plurality of operation control units are arranged on the lower panel 1 for operators to simulate operation and data interaction, and a simulation function core module is arranged between the lower box 27 and the lower panel 1. The simulation function core module includes a power supply 30, and the power supply is respectively connected to an integrated mainboard 7, an adapter 31, a power radiator 29, an integrated central processing unit 28, a hard disk 32, a wireless router 10, and a computer power adapter expansion dock 9, which are mutually connected.

[0107] The lower box 27 is provided with a fixed main body keel 35, the upper surface of the main body keel is connected to the lower panel 1, and the lower surface of the main body keel is fixedly connected to the inner surface of the lower box 27. A simulation function module is provided in the main body keel 35, and the computer power adapter docking station 9 is provided with a metal cover 36 to better protect the components. The inner surface of the lower box 27 and the main body keel 35 are connected by a bolt group 37, and an aluminum plate 33 is provided under the main body keel, and the simulation function core module is provided on the aluminum plate 33. The main body keel 35 is hollow, which can protect the components while dissipating heat in time and reducing weight.

[0108] A plurality of heat dissipation holes 34 are provided on the upper panel 6 and on the left and right sides of the monitoring screen 24 to facilitate heat dissipation of the upper panel 6 , improve the operating environment of the equipment, and achieve temperature control.

[0109] By redesigning the buttons on the operation panel 5 and improving the silk screen printing, more functions are unified, the equipment is more centralized, and the operation is more convenient, so that the marine engineering equipment operation simulation monitoring task function is further improved.

[0110] The ROV operation motion simulation software, ROV software and semi-physical simulation console communicate in real time through a distributed operating environment to achieve timely response of human-computer interaction.

[0111] The ROV operation motion modeling method includes theoretical derivation, numerical calculation, and pool model experiment and other research methods to construct the ROV body hydrodynamic coefficient and establish the ROV kinematic and dynamic model. Through the motion control method of ROV underwater operation, the actual operation operation is simulated to realize the simulation and simulation related research of the operator.

[0112] The viscous hydrodynamics D1 and D2 in the ROV kinematics and dynamics model described in this embodiment satisfy the impulse response relationship between speed and hydrodynamics, and can take into account the fluid memory effect caused by the complex shape and reciprocating motion of the ROV. The specific expression is as follows:

[0113] The method for calculating the ROV viscous hydrodynamic coefficient D1 is:

[0114] D1=[X1,Y1,Z1,K1,M1,N1] T (1)

[0115]

[0116] Among them, X1, Y1, Z1, K1, M1, and N1 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity uncoupled viscous hydrodynamic force and moment, respectively; X uu , Y uu , Z uu, K uu 、M uu 、N uu The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by longitudinal motion; X vv , Y vv , Z vv 、M vv 、N vv X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by lateral motion; ww , Y ww , Z ww , K ww 、M ww 、N ww X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; p , Y p , Z p , K p 、M p 、N p X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by rolling motion; q , Y q , Z q , K q 、M q 、N q X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitch motion; r , Y r , Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by the yaw motion; are the longitudinal, lateral and vertical displacements related to the longitudinal velocity u, lateral velocity v, vertical velocity w, time t and ROV length L respectively; τ0 is the integral variable; p, q, r are the roll, pitch and angular velocity of the ROV respectively; Φ ιj (ι=1...6,j=1...6) is the response function of the velocity-uncoupled viscous hydrodynamic force in the j direction caused by the motion in the ι direction, and the subscripts 1 to 6 represent the longitudinal, lateral, vertical, roll, pitch, and heading directions, respectively;

[0117] The method for calculating the ROV viscous hydrodynamic coefficient D2 is:

[0118] D2=[X2,Y2,Z2,K2,M2,N2] T (3)

[0119]

[0120] Among them, X2, Y2, Z2, K2, M2, and N2 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity-coupled viscous hydrodynamic forces and moments, respectively; X uv , Y uv , Z uv , K uv 、M uv 、N uv is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the horizontal plane yaw motion; X uw , Y uw , Z uw , K uw 、M uw 、N uw τ is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the yaw motion in the vertical plane; u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable of Σuv , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the horizontal plane yaw motion; Φ Σuw , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the yaw motion in the vertical plane;

[0121] Each term in D2 is Γ, and Γ uv represents the velocity-coupled viscous hydrodynamic coefficient, and the modeling method for each Γ is,

[0122] When the ROV has initial longitudinal and lateral velocities u0 and v0, Γ is expressed as:

[0123]

[0124] Let the convergence factor in the integrand be And taking the limit along the real positive axis as some small quantity ε→0, we have,

[0125]

[0126] Where i is the imaginary unit; (κ=u,v,uv) is a κ is the amplitude, is the complex number of the argument, F κ is the real part of the complex number, G κ is the imaginary part of the complex number; is the dimensionless expression of the longitudinal and lateral motion frequencies ω1 and ω2, U is the average velocity, and for and is the speed of ROV, considering condition (6), equation (5) can be written as:

[0127]

[0128] C κ Substitute into equation (7) and take the real part, when t→+∞, we have

[0129]

[0130] The left side of the equal sign in formula (8) is the hydrodynamic force, and the right side of the equal sign is A κ and The hydrodynamic results of the yaw pulse motion response experiment and its numerical simulation can be used to obtain the least square method, and the last term in equation (8) can be used to calculate Φ Xuv for:

[0131]

[0132] The modeling methods of other yaw velocity coupled viscous hydrodynamic terms are the same as this term. The velocity uncoupled viscous hydrodynamic terms are one-dimensional processes of the above method. The modeling methods of other hydrodynamics are consistent with the standard submarine maneuverability equations. Through the motion control method of ROV underwater operation, the ROV motion simulation control model is built, and the ROV navigation, motion control method, and thrust distribution strategy are simulated and analyzed; based on the concentrated mass method and multi-rigid body dynamics, the umbilical cable dynamics model and the operating tool dynamics model are established respectively; the umbilical cable-ROV-operating tool multi-system coupling dynamics model is established.

[0133] Manually start the semi-physical simulation console and ROV operation motion simulation software, start the trainer system and monitor the hardware operation of the entire multi-functional portable ROV simulator during operation to ensure the safe and stable operation of the hardware equipment during the simulator operation.

[0134] After the system is started, the coach software releases the simulation training subjects, including the establishment of the training environment (weather, sea conditions, visibility, scenes, training time), the parameter settings of the support ship, ROV position and speed, and then clicks to start the simulation; when the simulation platform is running, the coach can start, pause, continue and end the training according to the actual training situation, monitor the training in real time and dynamically modify the environmental information;

[0135] The semi-physical simulation console uses an operation panel 5 and is provided with a horizontal direction control three-axis joystick 14 located at the lower right corner for controlling the movement direction of the ROV; a claw switch 16, a telescopic control joystick 17, a sealed conversion rotary switch 18 and a ZOOM self-reset switch 19 are arranged from left to right between the self-locking vertical direction control single-axis joystick 13 and the horizontal direction control three-axis joystick 14 for controlling the lifting and lowering of the ROV and the retraction and extension of the manipulator; the operation panel has power control function, camera control function, robot claw control function and underwater robot movement control function.

[0136] The ROV operation simulation motion software system has completed key technology research and built a ROV motion simulation control model by conducting research on ROV operation motion real-time simulation technology. The ROV kinematics and dynamics models in the ROV operation motion simulation software are:

[0137]

[0138] Among them, M RB is the mass and moment of inertia matrix of ROV, C RB is the rigid body Coriolis force and centripetal force matrix composed of ROV moment of inertia and velocity matrix V, g0 is the appropriate expression of ROV gravity, M A is the fluid additional mass matrix of the ROV, C A is the relative velocity V between ROV and flow r Coriolis force and centripetal force of the fluid, d is the flow load, and the angle γ between ROV and flow velocity r Related, V C is the flow velocity, D1 and D2 are the uncoupled and coupled viscous hydrodynamic forces of the velocity, g is the restoring force associated with the ROV posture η, τ is the thruster thrust, and τ0 is the umbilical cable tension.

[0139] Determine the hydrodynamic coefficients and response functions in formulas (2) and (3) to form a complete dynamic model for motion calculation. The hydrodynamic coefficients of D1 are as follows: Figure 6 As shown in the figure, C+ represents the hydrodynamic coefficient when the ROV is sailing in the positive direction, and C- represents the hydrodynamic coefficient when the ROV is sailing in the negative direction. The hydrodynamic response function of D1 is as follows: Figure 7 As shown. Determine the hydrodynamic coefficient and response function in formulas (4) and (5). The hydrodynamic coefficient of D2 is as follows Figure 8 The hydrodynamic response function of D2 is shown as Fig. 9 shown.

[0140] Manually start the semi-physical simulation console and ROV operation motion simulation software, start the trainer system and monitor the hardware operation of the entire multi-functional portable ROV simulator during operation to ensure the safe and stable operation of the hardware equipment during the simulator operation.

[0141] After the system is started, the instructor software releases the simulation training subjects, including the establishment of the training environment (weather, sea conditions, visibility, scenes, training time), supporting ship, ROV position, speed parameter settings, and then clicks to start the simulation; while the simulation platform is running, the instructor can start, pause, continue, end, and perform other operations according to the actual training situation, monitor the training in real time, and dynamically modify the environmental information.

[0142] The operator manipulates the horizontal direction control three-axis rocker 14 and the self-locking vertical direction control single-axis rocker 13, and the horizontal direction control three-axis rocker 14 and the self-locking vertical direction control single-axis rocker 13 output the encoded electrical signal, which is sent to the ROV operation motion simulation software through TTL serial communication, and the signal is analyzed and the ROV motion gain is generated. The ROV operation motion simulation software calculates the thrust of the propeller τ according to the gain, and solves the motion speed of the ROV through (11), so as to realize the ROV motion control of the person in the loop. The claw switch 16, the telescopic control rocker 17, the sealed conversion rotary switch 18, the switch is a band 2 knife 6 gear, and the ZOOM self-reset switch 19. The encoded signal is sent to the computer where the ROV operation motion simulation software is located through the RS-485 serial communication protocol. The ROV operation motion simulation software extracts the joint position information for controlling the lifting and lowering of the ROV and the retraction and extension of the manipulator.

[0143] After the instructor issues the command to start the simulation, the ROV control software realizes the conversion of analog signals and digital signals. The trainees control the ROV movement speed and direction and retrograde simulation training through the operating console, thereby achieving the simulation of the equipment and operators in the loop.

[0144] Based on the data records, the coach platform provides operations such as reproduction record loading, reproduction start, reproduction pause, reproduction continue, and reproduction end for the selected training process records, and replays the entire simulation process; the coach platform also includes a trainee information database and a training simulation database. The trainee information database is used to store the trainee information (including name, training subjects and training results), and the training simulation database is used to store simulation data in the simulation process to provide data support for coaches to evaluate performance.

[0145] Evaluation of training results: Based on the evaluation results and recorded data of on-site coaches and experts, a comprehensive evaluation of trainees' operational training or an assessment and analysis of the effectiveness of the implementation of the plan is conducted, and the plan is optimized to improve actual operational efficiency and avoid the risks of anchor dropping and lifting operations at sea.

[0146] After the training is completed, the integrated control platform shuts down each simulation platform and the entire simulation platform ends its use.

[0147] In the description of this specification, only the preferred embodiments of the present invention are provided, and the scope of the rights of the present invention cannot be limited by this. In addition, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, in the absence of mutual contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0148] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined or coupled in a variety of ways, even if such combinations or couplings are not explicitly described in the present disclosure. In particular, the various embodiments and of the present disclosure may be combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations fall within the scope of the present disclosure.

[0149] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A multifunctional portable ROV simulation controller considering fluid memory effect, characterized in that: The ROV simulation controller comprises an upper box (26), a lower box (27) and a simulation function module. The upper box body (26) and the lower box body (27) are connected via a hinge; An upper panel (6) is embedded in the upper box body (26), and two monitoring screens (24) are arranged on the upper panel (6), wherein one monitoring screen (24) is used to monitor the comprehensive management display interface, and the other monitoring screen (24) is used to monitor the visual display interface; A lower panel (1) is embedded in the lower box (27), and at least one operation control unit is arranged on the lower panel (1), and the operation control unit is used for operators to simulate operation and data exchange; A simulation function module is arranged between the lower box (27) and the lower panel (1).

2. The multifunctional portable ROV simulation controller considering fluid memory effect according to claim 1, characterized in that: The two monitoring screens (24) are fixed to the upper panel (6) by bolt connection, and a plurality of mounting bases are arranged on the top of the upper box body (26), which are connected to the upper panel (6) by bolts and fixed on the bases.

3. The multifunctional portable ROV simulation controller considering fluid memory effect according to claim 1, characterized in that: The upper box (26) and the lower box (27) are provided with Type-C data cables for data transmission and power supply.

4. The multifunctional portable ROV simulation controller considering fluid memory effect according to claim 1, characterized in that: The lower panel (1) is also provided with a spare parts box (4), a display screen (3), an operation panel (5), and a metal keyboard (2); The spare parts box (4) is used for accommodating the power cord; The display screen (3) is used to display the working environment and parameter input; The operation panel (5) and the metal keyboard (2) are used for operators to simulate operations.

5. The multifunctional portable ROV simulation controller considering fluid memory effect according to claim 1, characterized in that: The simulation function module comprises a power supply (30), and the power supply (30) is respectively connected to an integrated mainboard (7), an adapter (31), a power radiator (29), an integrated central processing unit (28), a hard disk (32), a wireless router (10), and a computer power adapter docking station (9) in the multifunctional portable ROV simulation controller; the hard disk (32) stores motion simulation software and simulation control software; and the programs in the motion simulation software and the simulation control software respectively communicate with the simulator in real time through a distributed operating environment.

6. The multifunctional portable ROV simulation controller considering fluid memory effect according to claim 4, characterized in that: The operation panel (5) is also provided with a main power interface (8), a main switch button (23) is connected below the main power interface (8), an RS485 interface (21) is arranged side by side on the left side of the main power interface (8), three USB expansion interfaces (20) are arranged side by side on the left side of the RS485 interface (21), a switch and an illumination indicator (11) are arranged on the left side of the USB expansion interface (20), a communication indicator (12) is arranged on the left side of the switch and the illumination indicator (11), and a debugging interface is arranged on the left side of the communication indicator (12). (22), a self-locking vertical direction control single-axis rocker (13) is arranged below the debugging interface (22), a claw switch (16) is arranged on the right side of the self-locking vertical direction control single-axis rocker (13), a telescopic control rocker (17) is arranged on the right side of the claw switch (16), a sealed conversion rotary switch (18) is arranged on the right side of the telescopic control rocker (17), a ZOOM self-resetting switch (19) is arranged on the right side of the sealed conversion rotary switch, and a horizontal direction control three-axis rocker (14) is arranged on the right side of the ZOOM self-resetting switch (19).

7. The multifunctional portable ROV simulation controller considering fluid memory effect according to claim 6 is characterized in that: The operation panel (5) is also provided with a fine-tuning button (15), which is arranged at the middle position of the operation panel (5) and is located on the left side of the horizontal direction control three-axis joystick (14).

8. A simulation method for a multifunctional portable ROV simulation controller considering fluid memory effect, characterized in that: The modeling method is implemented based on the device of claim 1, and the simulation method of the ROV simulation controller comprises the following steps: S1, a horizontal three-axis rocker (14) and a self-locking vertical control self-locking single-axis rocker (13) are used to generate an electrical signal of the motion state of the cable robot ROV, and the electrical signal is sent to the ROV operation motion simulation system through a TTL serial communication protocol. The ROV operation motion simulation analyzes the output encoded electrical signal and generates an ROV posture gain; S2, the ROV operation motion simulation software calculates the thruster thrust τ according to the generated ROV posture gain, inputs the thruster thrust τ into the ROV kinematics and dynamics model, and solves the motion speed in the ROV kinematics and dynamics model, so that the operator can control the motion of the ROV simulation controller in the loop; S3, the claw switch (16), the telescopic control rocker (17), the sealed conversion rotary switch (18) and the ZOOM self-reset switch (19) are respectively used to send the encoded end effector opening or closing electrical signal, the end effector extension or retraction electrical signal, the rotation joint electrical signal, and the joint position initialization electrical signal to the ROV operation motion simulation system through the RS485 serial communication protocol. The ROV operation motion simulation software extracts the joint information and sends the joint information to the operation tool dynamics model for controlling the lifting and lowering of the ROV simulation controller and the retraction and extension of the manipulator, that is, realizing the simulation of the ROV simulation controller and the operator in the loop.

9. The simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect according to claim 8 is characterized in that: After constructing the ROV kinematic and dynamic model in S2, the step of calculating the ROV viscous hydrodynamic coefficients D1 and D2 is also included.

10. The simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect according to claim 9 is characterized in that: The method for calculating the ROV viscous hydrodynamic coefficient D1 is: D1=[X1,Y1,Z1,K1,M1,N1] T (1) Among them, X1, Y1, Z1, K1, M1, and N1 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity uncoupled viscous hydrodynamic force and moment, respectively; X uu , Y uu , Z uu , K uu 、M uu 、N uu The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by longitudinal motion; X vv , Y vv , Z vv 、M vv 、N vv X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by lateral motion; ww , Y ww , Z ww , K ww 、M ww 、N ww X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; p , Y p , Z p , K p 、M p 、N p X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by rolling motion; q , Y q , Z q , K q 、M q 、N q X is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitch motion; r , Y r , Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by the yaw motion; are the longitudinal, lateral and vertical displacements related to the longitudinal velocity u, lateral velocity v, vertical velocity w, time t and ROV length L respectively; τ0 is the integral variable; p, q, r are the roll, pitch and angular velocity of the ROV respectively; Φ ιj (ι=1...6,j=1...6) is the response function of the velocity-uncoupled viscous hydrodynamic force in the j direction caused by the motion in the ι direction, and the subscripts 1 to 6 represent the longitudinal, lateral, vertical, roll, pitch, and heading directions, respectively; The method for calculating the ROV viscous hydrodynamic coefficient D2 is: <h2 style=";text-align:left;direction:ltr">D2=[X2,Y2,Z2,K2,M2,N2]<h2 style=";text-align:left;direction:ltr"> T <h2 style=";text-align:left;direction:ltr"> (3) Among them, X2, Y2, Z2, K2, M2, and N2 represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity-coupled viscous hydrodynamic forces and moments, respectively; X uv , Y uv , Z uv , K uv 、M uv 、N uv is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the horizontal plane yaw motion; X uw , Y uw , Z uw , K uw 、M uw 、N uw τ is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by the yaw motion in the vertical plane; u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable of Σuv , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the horizontal plane yaw motion; Φ Σuw , (Σ=X,Y,Z,K,M,N) is the velocity-coupled viscous hydrodynamic response function in the Σ direction caused by the yaw motion in the vertical plane; Where each term in D2 is Γ, use Γ uv represents the velocity-coupled viscous hydrodynamic coefficient, and the modeling method for each Γ is, When the ROV has initial longitudinal and lateral velocities u0 and v0, Γ is expressed as: Let the convergence factor in the integrand be And taking the limit along the real positive axis as some small quantity ε→0, we have, Where i is the imaginary unit; A κ is the amplitude, is the complex number of the argument, F κ is the real part of the complex number, G κ is the imaginary part of the complex number; is the dimensionless expression of the longitudinal and lateral motion frequencies ω1 and ω2, U is the average velocity, and for and is the speed of ROV, considering condition (6), equation (5) can be written as: C κ Substitute into equation (7) and take the real part, when t→+∞, we have The left side of the equal sign in formula (8) is the hydrodynamic force, and the right side of the equal sign is A κ and Using the hydrodynamic results of the yaw pulse motion response experiment and its numerical simulation, the least square method is used to calculate Φ using the last term in equation (8). Xuv for:

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