A multifunctional portable ROV simulation controller and simulation method considering fluid memory effect

Abstract

A multifunctional portable ROV simulation controller and simulation method that takes into account the fluid memory effect, the present invention relates to the field of underwater intelligent equipment. The invention solves the problems that most ROV simulation controllers in the prior art have, such as complex operation, decentralized equipment, difficulty in portability, and backward development of related software. The ROV simulation controller combines the components in the ROV simulation controller for design, and clearly partitions the relevant functional modules of the underwater ROV under the premise of combining ergonomics. It is proposed to establish an ROV kinematic and dynamic model using the pulse response relationship between viscous hydrodynamic velocity and load, and to propose a yaw hydrodynamic model and modeling method that takes into account the fluid memory effect, to calculate the ROV hydrodynamic phase lag and amplitude increase caused by the fluid memory effect in horizontal and vertical yaw motions. The invention is also suitable for quickly improving the operating skills and operating level of operators 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, underwater robot-related technologies are no less important in the field of ocean development and utilization than outer space development.

[0003] Underwater robot control technology is a core element of underwater exploration. Existing tethered remote-operated vehicle (ROV) simulation controllers often suffer from complex operation, fragmented equipment, portability issues, and underdeveloped software development. Due to the relatively sensitive nature of underwater robot technology, research on ROV simulation controllers is limited.

[0004] Patent document CN 116011294A discloses a method for building a six-degree-of-freedom ROV operation simulation platform. This method is used to address the problems of existing ROV simulation and operation simulation systems, such as the limitations of operation scenarios, the lack of factors affecting ROV operations, unrealistic ROV motion responses, the dependence of the hydrodynamic coefficients during ROV deployment operations on the structural form of the ROV and TMS, and the lack of consideration of the dynamics of complex structures in existing research. Furthermore, the platform is not easy to carry.

[0005] Patent document CN 18332944A discloses a modeling method for a six-degree-of-freedom ROV hydrodynamic model that considers the fluid memory effect. Although this method can account for the influence of motion history and the changes in hydrodynamic amplitude and phase caused by the fluid memory effect, it cannot solve the problems 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 of the existing ROV simulation controller, such as complex operation, uncentralized equipment, difficulty in portability, and backward development of related software. To solve the above technical problems, the present invention is achieved through the following technical solutions:

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

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

[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 provided on the lower panel, and the operation control unit is used for operators to simulate operations and interact with data;

[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 bolts, and a plurality of mounting bases are provided 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] Furthermore, a preferred embodiment is provided, wherein a spare parts box, a display screen, an operation panel, and a metal keyboard are further provided on the lower panel;

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

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

[0017] The operation panel and 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 the integrated mainboard, adapter, power radiator, integrated central processing unit, hard disk, wireless router, and computer power adapter expansion dock in the multifunctional portable ROV simulation controller; the hard disk 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.

[0019] Furthermore, a preferred embodiment is provided, wherein the operation panel is also provided with a main power interface, a main switch button is connected below the main power interface, an RS485 interface is 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 an illumination 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 illumination 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-reset 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-reset switch.

[0020] Furthermore, a preferred embodiment is provided, wherein a fine-tuning button is further provided on the operation panel, and the fine-tuning button is provided in the middle position of the operation panel and 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 includes 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 cable robot ROV motion state, and the electrical signal is sent to the ROV operation motion simulation system through the TTL serial communication protocol. The ROV operation motion simulation analyzes the output encoded electrical signal and generates the ROV posture gain;

[0023] S2, ROV operation motion simulation software calculates the thruster thrust τ based on 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, the claw switch, the telescopic control rocker, the sealed conversion rotary switch and the ZOOM self-reset switch 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, thereby realizing 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] Furthermore, a preferred embodiment is provided, wherein 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 uncoupled viscous hydrodynamic forces and moments of longitudinal, lateral, vertical, roll, pitch, and heading velocities, respectively; X uu 、Y uu , Z uu , K uu 、M uu 、N uu is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by longitudinal motion; X vv 、Y vv , Z vv 、M vv 、N vv X is the longitudinal, lateral, vertical, roll, pitch and bow viscous hydrodynamic coefficient caused by lateral motion; ww 、Y ww , Z ww , K ww 、M ww 、N ww is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; X p 、Y p , Z p , K p 、M p 、N p The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by rolling motion; X q 、Yq 、Z q , K q 、M q 、N q is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitching motion; X r 、Y r 、Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by the heading 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 yaw angular velocities 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 horizontal plane yaw motion; X uw 、Y uw 、Z uw , K uw 、M uw 、N uw is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by vertical plane yaw motion; τ u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable Φ 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] 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,

[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 ROV of velocity, considering condition (6), equation (5) can be written as:

[0040]

[0041] C κ Substitute into formula (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 squares method and use the last term in Equation (8) to calculate Φ Xuv for:

[0044]

[0045] The present invention is beneficial in that:

[0046] The present invention uses the impulse response relationship between viscous hydrodynamic velocity and load to establish an ROV kinematic and dynamic model. This 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, this model can calculate the ROV hydrodynamic phase lag and amplitude increase caused by the fluid memory effect in horizontal and vertical yaw motions.

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

[0048] The present invention combines components of a multifunctional portable ROV simulator controller that takes into account the fluid memory effect. This design clearly partitions the functional modules related to the underwater ROV and optimizes the structure, making the simulator controller easy to operate while also simplifying the design. The simulator's overall structure is compact, minimizing its footprint and making it easy to transport and carry.

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

[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. The real-time data transmission between the operation 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 structural schematic diagram of a multifunctional portable ROV simulation controller taking into account the fluid memory effect as described in embodiment 1.

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

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

[0057] Figure 6 Schematic diagram of the change of the D1 uncoupled viscous hydrodynamic coefficient described in the ninth embodiment.

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

[0059] Figure 8 Schematic diagram of the change of the D2 coupled viscous hydrodynamic coefficient described in the ninth embodiment.

[0060] Figure 9 Schematic diagram of the change of the D2-coupled viscous hydrodynamic response function described in the ninth embodiment.

[0061] In the figure, the following are the following: lower panel 1; metal keyboard 2; display screen 3; spare parts box 4; operation panel 5; upper panel 6; circuit board 7; main power interface 8; computer power adapter docking station 9; wireless router 10; lighting indicator light 11; communication indicator light 12; self-locking vertical direction control single-axis joystick 13; horizontal direction control three-axis joystick 14; fine-tuning button 15; claw switch 16; telescopic control joystick 17; sealed conversion rotary switch 18; ZOOM self-reset switch 19; USB expansion interface 20; RS485 interface 21; debugging interface 22; main switch button 23; monitoring screen 24; wire opening hole 25; upper box 26; lower box 27; integrated central processing unit 28; power radiator 29; power supply 30; adapter 31; hard disk 32; aluminum plate 33; heat dissipation hole 34; main keel 35; metal cover 36; 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, and (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] Figure 9Among them, (a) longitudinal coupled hydrodynamic response function of positive yaw, (b) lateral coupled hydrodynamic response function of positive yaw, (c) vertical coupled hydrodynamic response function of positive yaw, (d) longitudinal coupled hydrodynamic response function of negative yaw, (e) lateral coupled hydrodynamic response function of negative yaw, and (f) vertical coupled hydrodynamic response function of negative yaw. DETAILED DESCRIPTION

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

[0067] Embodiment 1: This embodiment provides a multifunctional portable ROV simulation controller that takes 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. Two monitoring screens 24 are provided on the upper panel 6. One monitoring screen 24 is used to monitor the integrated management display interface, and the other monitoring screen 24 is used to monitor the visual display interface.

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

[0071] A simulation function module is provided 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 described in Embodiment 1 that takes into account the fluid memory effect. The two monitoring screens 24 are fixed to the upper panel 6 by bolts, and multiple sets of mounting bases are provided on the top of the upper box 26, which are connected to the upper panel 6 by bolts and fixed on the bases.

[0073] Implementation method three: This implementation method further limits the multifunctional portable ROV simulation controller considering the fluid memory effect described in implementation method one. 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 further defines the multifunctional portable ROV simulation controller considering the fluid memory effect described in embodiment 1. The lower panel 1 is further provided with a spare parts box 4, a display screen 3, an operation panel 5, and a metal keyboard 2.

[0075] The spare parts box 4 is used to store 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] Implementation method five. This implementation method further limits the multifunctional portable ROV simulation controller that takes into account the fluid memory effect described in implementation method one. 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 expansion dock 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] Implementation method six. This implementation method is a further limitation of the multifunctional portable ROV simulation controller considering the fluid memory effect described in implementation method four. The operation panel 5 is also provided with a main power interface 8, 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 illumination indicator 11 are arranged on the left side of the USB expansion interface 20, and a communication indicator is arranged on the left side of the switch and the illumination indicator 11. A debugging interface 22 is provided on the left side of the communication indicator light 12, a self-locking vertical direction control single-axis rocker 13 is provided below 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 provided 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 for a multifunctional portable ROV simulation controller that takes into account the fluid memory effect. The modeling method is implemented based on the device described in embodiment 1. The simulation method for the ROV simulation controller includes the following steps:

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

[0083] S2, ROV operation motion simulation software calculates the thruster thrust τ based on 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, 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.

[0085] Implementation method nine: This implementation method further limits the simulation method of the multifunctional portable ROV simulation controller considering 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] Implementation 10: This implementation further limits the simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect described in Implementation 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 uncoupled viscous hydrodynamic forces and moments of longitudinal, lateral, vertical, roll, pitch, and heading velocities, respectively; X uu 、Y uu 、Z uu , K uu 、M uu 、N uu is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient 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 heading viscous hydrodynamic coefficient caused by lateral motion; ww 、Y ww 、Z ww , K ww 、M ww 、N ww is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; X p 、Y p 、Z p , K p 、M p 、N p The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by rolling motion; X q 、Y q 、Z q , K q 、M q 、N q is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitching motion; X r 、Y r 、Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by the heading 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 yaw angular velocities 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 horizontal plane yaw motion; X uw 、Y uw , Z uw , K uw 、M uw 、N uw is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by vertical plane yaw motion; τ u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable Φ 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] 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,

[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 ROV of velocity, considering condition (6), equation (5) can be written as:

[0100]

[0101] C κ Substitute into formula (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 squares method and use the last term in Equation (8) to calculate Φ Xuv for:

[0104]

[0105] Implementation 11: This implementation provides an example, which is used to explain the above implementation. The example includes:

[0106] A multifunctional portable ROV simulation controller that takes into account the fluid memory effect includes an upper box 26 and a lower box 27, which are connected by a hinge and a data cable. An upper panel 6 is embedded in the upper box 26, and two parallel monitoring screens 24 are provided on the upper panel 6, one of which is used as a comprehensive management display interface, and the other 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 provided on the lower panel 1 for operators to simulate operations and data interaction. A simulation function core module is provided between the lower box 27 and the lower panel 1. The simulation function core module includes a power supply 30, which is respectively connected to an integrated motherboard 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.

[0107] The lower case 27 is provided with a fixed main frame 35. Its upper surface is connected to the lower panel 1, and its lower surface is fixedly connected to the inner surface of the lower case 27. The simulation function module is housed within the main frame 35. The computer power adapter docking station 9 is provided with a metal cover 36 to further protect the components. The inner surface of the lower case 27 and the main frame 35 are connected by a bolt assembly 37. An aluminum plate 33 is installed below the main frame, and the simulation function core module is mounted on the aluminum plate 33. The main frame 35 is hollowed out, which not only protects the components but also allows for timely heat dissipation and reduces 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, more functions have been unified, the equipment is more centralized, and the operation is more convenient, which further improves the marine engineering equipment operation simulation monitoring task function.

[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 tank model experiments to construct the ROV body hydrodynamic coefficients and establish the ROV kinematic and dynamic models. Through the motion control method of ROV underwater operations, actual operation operations are simulated to realize the simulation and related research of operators.

[0112] The viscous hydrodynamic forces D1 and D2 in the ROV kinematic and dynamic model described in this embodiment satisfy the impulse response relationship between velocity and hydrodynamic force, 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 uncoupled viscous hydrodynamic forces and moments of longitudinal, lateral, vertical, roll, pitch, and heading velocities, respectively; X uu 、Y uu 、Z uu, K uu 、M uu 、N uu is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by longitudinal motion; X vv 、Y vv 、Z vv 、M vv 、N vv X is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by lateral motion; ww 、Y ww 、Z ww , K ww 、M ww 、N ww is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by vertical motion; X p 、Y p 、Z p , K p 、M p 、N p The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by rolling motion; X q 、Y q 、Z q , K q 、M q 、N q is the longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficient caused by pitching motion; X r 、Y r 、Z r , K r 、M r 、N r The longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by the heading 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 yaw angular velocities 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 horizontal plane yaw motion; X uw 、Y uw , Z uw , K uw 、M uw 、N uw is the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficient caused by vertical plane yaw motion; τ u0 , τ v0 and τ w0 For τ u , τ v and τ w The integral variable Φ 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] 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,

[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 ROV of velocity, considering condition (6), equation (5) can be written as:

[0127]

[0128] C κ Substitute into formula (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 squares method and use the last term in Equation (8) to calculate Φ Xuv for:

[0131]

[0132] The modeling methods for other yaw velocity-coupled viscous hydrodynamic terms are the same as this term. The velocity-independent viscous hydrodynamic terms are one-dimensional processes, and the other hydrodynamic modeling methods are consistent with the standard submarine maneuverability equations. Using the motion control method for ROV underwater operations, an ROV motion simulation control model was constructed, and simulation analysis of ROV navigation, motion control methods, and thrust distribution strategies was performed. Based on the lumped mass method and multi-rigid body dynamics, umbilical cable dynamic models and tool dynamic models were established, respectively. A multi-system coupled dynamics model of the umbilical cable, ROV, and tool was 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 instructor software launches the simulation training subjects, including the establishment of the training environment (weather, sea conditions, visibility, scene, training time), the setting of parameters for the support vessel, ROV position and speed, and then clicks to start the simulation. While the simulation platform is running, the instructor 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 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 provided 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 ROV lifting and retraction 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 technical research by conducting research on ROV operation motion real-time simulation technology, and built an ROV motion simulation control model. 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 ROV, C A is the relative velocity V between ROV and flow r Coriolis force and centripetal force of the fluid are related, d is the flow load, and the angle γ between ROV and flow velocity is 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, 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 Figure 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), support 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 training, 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. The horizontal direction control three-axis rocker 14 and the self-locking vertical direction control single-axis rocker 13 output coded electrical signals, which are sent to the ROV operation motion simulation software through TTL serial communication. The signals are analyzed and the ROV motion gain is generated. The ROV operation motion simulation software calculates the thrust of the propeller τ based on the gain, and solves the motion speed of the ROV through (11), thereby realizing the ROV motion control of the human 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 coded 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 ROV lifting and the manipulator retraction.

[0143] After the instructor issues the command to start the simulation, the ROV control software realizes the conversion between analog and digital signals. The trainees control the ROV's movement speed and direction and the retrograde simulation training through the operation 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 trainee information (including name, training subjects and training results), and the training simulation database is used to store simulation data during 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 anchoring 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] The descriptions in this specification refer only to preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Furthermore, reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples" implies that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative descriptions of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, those skilled in the art may combine and integrate the different embodiments or examples described in this specification, as well as features from different embodiments or examples, unless otherwise specified. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance or to implicitly specify the number of the technical features indicated. Therefore, features designated "first" or "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0148] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of this disclosure may be combined or coupled in various ways, even if such combinations or couplings are not explicitly described in this disclosure. In particular, the various embodiments of this disclosure may be combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations are intended to fall within the scope of this disclosure.

[0149] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they are aware of the basic inventive concepts. 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 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 invention. Thus, the present invention is intended to include such changes and modifications as fall within the scope of the claims and their equivalents.

Claims

1. A simulation method for a multifunctional portable ROV simulation controller taking into account a fluid memory effect, wherein the simulation method is implemented based on the multifunctional portable ROV simulation controller, the multifunctional portable ROV simulation controller comprising 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 (26), and two monitoring screens (24) are provided on the upper panel (6), wherein one monitoring screen (24) is used to monitor the integrated 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 provided on the lower panel (1), and the operation control unit is used for operator simulation operation and data interaction; A simulation function module is provided between the lower box (27) and the lower panel (1); It is characterized in that The simulation method comprises the following steps: S1, a horizontal direction control three-axis rocker (14) and a self-locking vertical direction control 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 system parses the output encoded electrical signal and generates the ROV posture gain; S2, ROV operation motion simulation software calculates the thruster thrust based on the generated ROV posture gain , the thruster thrust Input into the ROV kinematics and dynamics model, and solve 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 electric signal, the end effector extension or retraction electric signal, the rotation joint electric signal, and the joint position initialization electric 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; After constructing the ROV kinematic and dynamic model in S2, the ROV viscous hydrodynamic coefficient is calculated. and Steps; Calculate ROV viscous hydrodynamic coefficients The method is: (1) (2) in, denote the uncoupled viscous hydrodynamic forces and moments of longitudinal, lateral, vertical, roll, pitch, and heading velocities, respectively; 、 、 、 、 、 The longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by longitudinal motion; The longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by lateral motion; 、 、 、 、 、 The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by vertical motion; 、 、 、 、 、 The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by rolling motion; 、 、 、 、 、 The longitudinal, lateral, vertical, roll, pitch and yaw viscous hydrodynamic coefficients caused by pitching motion; 、 、 、 、 、 The longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by the heading motion; 、 、 and longitudinal speed respectively , lateral speed , vertical speed ,time and ROV length associated longitudinal, lateral, and vertical displacements; is the integral variable; 、 、 are the roll, pitch and heading angular velocities of the ROV respectively; for Directional movement causes The response function of the uncoupled viscous hydrodynamic force in the velocity direction is, , subscripts 1 to 6 represent the longitudinal, transverse, vertical, roll, pitch, and heading directions respectively; Calculate ROV viscous hydrodynamic coefficients The method is: (3) (4) in, They represent the longitudinal, lateral, vertical, roll, pitch, and heading velocity-coupled viscous hydrodynamic forces and moments, respectively; 、 、 、 、 、 are the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by horizontal plane yaw motion; 、 、 、 、 、 are the longitudinal, lateral, vertical, roll, pitch and heading viscous hydrodynamic coefficients caused by yaw motion in the vertical plane; 、 and For 、 and The integral variable of ; The horizontal plane yaw motion Directional velocity coupled viscous hydrodynamic response function, where ; The vertical yaw motion Directional velocity coupled viscous hydrodynamic response function, where ; in Each of the ,use represents the velocity-coupled viscous hydrodynamic coefficient, each of which The modeling method is, When the ROV has longitudinal and lateral initial velocities and hour, Expressed as: (5) Let the convergence factor in the integrand be And take the limit along the real positive axis as a small quantity →0, then we have (6) in, is an imaginary unit; For one is the amplitude, where , is the complex number of the argument, is the real part of the complex number, is the imaginary part of the complex number; 、 The longitudinal and lateral motion frequencies and The dimensionless expression of is the average speed, for and is the ROV of velocity, considering condition (6), equation (5) can be written as: (7) Will Substitute into formula (7) and take the real part, when Sometimes (8) The left side of the equal sign in formula (8) is the hydrodynamic force, and the right side is and The hydrodynamic results of the yaw pulse motion response experiment and its numerical simulation are obtained by the least squares method, and the last term in Equation (8) is used to calculate for: (9)。 2. The simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect according to claim 1 is 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 provided on the top of the upper box (26), which are connected to the upper panel (6) by bolts and fixed to the bases.

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

4. The simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect according to claim 1 is 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 to store 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 simulated operation by operators.

5. The simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect according to claim 1 is characterized in that: The simulation function module includes a power supply (30), and the power supply (30) is respectively connected to the integrated mainboard (7), the adapter (31), the power radiator (29), the integrated central processing unit (28), the hard disk (32), the wireless router (10), and the 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 ROV simulation controller in real time through a distributed operating environment.

6. The simulation method of the multifunctional portable ROV simulation controller considering the fluid memory effect according to claim 4 is 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 a lighting 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 lighting 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 provided below 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).

7. The simulation method of the multifunctional portable ROV simulation controller considering the 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).

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