Dynamical model construction method, device and equipment of underwater robot and medium

Abstract

The invention provides a dynamical model construction method, device and equipment for an underwater robot and a medium, and relates to the technical field of model construction, and the method comprises the steps: obtaining the position power data and attitude power data of a four-rotor vertical propeller; determining a position dynamics model of the autonomous underwater vehicle based on the position dynamic data; determining an attitude dynamic model of the autonomous underwater vehicle based on the attitude dynamic data; determining an initial dynamical model of the autonomous underwater vehicle based on the position dynamical model and the attitude dynamical model; and performing model simplification on the initial dynamical model based on a preset simplification rule to obtain a target dynamical model. According to the method, the dynamical model of the underwater robot is constructed in two aspects of position power and attitude power, so that the accuracy of the dynamical model is improved, convenience and foundation are provided for analysis of free motion of the underwater robot, the problem that part of parameters are difficult to obtain is solved through model simplification, and the accuracy of the dynamical model is improved. And the use convenience of the model is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of model construction, and in particular to a method, device, equipment and medium for constructing a dynamic model of an underwater robot. Background Art

[0002] The dynamic model is the basis for the design and implementation of robot control systems. The dynamic model can predict and simulate the motion behavior of underwater robots, predict potential dangerous situations underwater, help engineers understand the performance of underwater robots under different operating conditions, and help specify effective path planning and task execution strategies. It can be seen that the accuracy and multi-scenario availability of the dynamic model are necessary. Therefore, building an accurate and simple dynamic model is an urgent problem to be solved. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for constructing a dynamic model of an underwater robot, which constructs the dynamic model of the underwater robot from two aspects: position dynamics and attitude dynamics, thereby improving the accuracy of the kinematic model, providing convenience and basis for the analysis of the free movement of the underwater robot, and solving the problem of difficulty in obtaining some parameters by simplifying the model, thereby improving the ease of use of the model.

[0004] In a first aspect, an embodiment of the present invention provides a method for constructing a dynamic model of an underwater robot, the method comprising: obtaining position dynamic data and attitude dynamic data of a quadrotor vertical thruster; determining a position dynamic model of the autonomous underwater vehicle based on the position dynamic data; determining an attitude dynamic model of the autonomous underwater vehicle based on the attitude dynamic data; determining an initial dynamic model of the autonomous underwater vehicle based on the position dynamic model and the attitude dynamic model; and simplifying the initial dynamic model based on pre-set simplification rules to obtain a target dynamic model.

[0005] In a preferred embodiment of the present invention, the position dynamics data includes: an inertia coefficient matrix, a linear velocity, a gravity coefficient matrix and a quadrotor lift matrix; determining the position dynamics model of the autonomous underwater vehicle based on the position dynamics data includes: performing a state analysis of the autonomous underwater vehicle based on the principle of Newtonian mechanics, and determining the position dynamics model represented by the following formula: M p V=G p +T p Among them, p indicates that the parameters are parameters in the position dynamics model; M represents the inertia coefficient matrix with additional mass coefficient; V represents the linear velocity in the carrier coordinate system; G represents the gravity coefficient matrix; T represents the quadrotor lift matrix.

[0006] In a preferred embodiment of the present invention, the above-mentioned attitude dynamic data includes: a rotational inertia matrix, an angular velocity, a gyroscopic torque of a quadrotor structure, and a torque generated by a propeller on a body axis; determining an attitude dynamic model of an autonomous underwater vehicle based on the attitude dynamic data includes: performing attitude analysis of the autonomous underwater vehicle based on the Euler equation, and determining that the attitude dynamic model is represented by the following formula: J a W+W×J a W=G a +τ Ta Where a represents the parameter in the attitude dynamics model; J represents the rotation inertia matrix; W represents the angular velocity in the carrier coordinate system; G a represents the gyroscopic torque of the quadrotor structure; τ Ta =[τ x , τ y , τ z ] T It represents the moment generated by the propeller on the fuselage axis, including the rolling moment τ around the X axis x , the pitch moment τ around the Y axis y , the yaw moment τ around the Z axis z .

[0007] In a preferred embodiment of the present invention, the initial dynamic model of the autonomous underwater vehicle is determined based on the position dynamic model and the attitude dynamic model, including: after analyzing the vector representation of the predetermined translational motion model and the predetermined quadrotor rotation model, the initial dynamic model of the autonomous underwater vehicle is determined based on the position dynamic model and the attitude dynamic model by the following formula: MV el +C(v)V el +DV el +g(v)+V el ×MV el =τ i +τ d +τ T Where M is the inertia coefficient matrix; C is the Coriolis force and centripetal force coefficient matrix; D is the hydrodynamic damping matrix; g is the restoring force vector matrix, V el Represents the speed and angular velocity information of the autonomous underwater vehicle; τ i Represents the force and torque information of the translational motion model; τ d Represents the external environment interference force vector; τ T Represents the force and torque information of the four-wing attitude rotation model.

[0008] In a preferred embodiment of the present invention, the simplified rules include: selecting the origin of the carrier coordinate system as the buoyancy center coordinates of the autonomous underwater vehicle; immersing the autonomous underwater vehicle as a whole in water during constant depth cruising; adjusting the buoyancy center and center of the autonomous underwater vehicle to be at the same position; and adjusting the autonomous underwater vehicle to be in a suspended state underwater.

[0009] In a preferred embodiment of the present invention, the initial dynamic model is simplified based on a preset simplification rule to obtain a target dynamic model, including: simplifying the inertia coefficient matrix, Coriolis force and centripetal force coefficient matrix, and hydrodynamic damping matrix in the initial dynamic model based on the simplification rule to obtain a target inertia coefficient matrix, a target Coriolis force and centripetal force coefficient matrix, and a target hydrodynamic damping matrix; substituting the target inertia coefficient matrix, the target Coriolis force and centripetal force coefficient matrix, and the target hydrodynamic damping matrix into the initial dynamic model to obtain the target dynamic model.

[0010] In a preferred embodiment of the present invention, the target inertia coefficient matrix is ​​expressed as: The target Coriolis force and centripetal force coefficient matrix is ​​expressed as:

[0011] The target hydrodynamic damping matrix is ​​expressed as: Where M represents the target inertia coefficient matrix, C(v) represents the target Coriolis force and centripetal force coefficient matrix, and D represents the target hydrodynamic damping matrix. The target dynamic model is expressed as: in, d 11 =X u +X u|u| |u| d 22 =Y v +Y v|v| |v| d 33 =Z w +Z w|w| |w|,d 44 =K p +K p|p| |p|, d 55 =M q +M q|q| |q|,d 66 =N r +N r|r| |r|,C 26 =-C 35 =C 53 =-C 62 =m 11 u, -C 16 =C 34 =-C 43 =C 61=m 22 v, C 56 =-C 65 =m 44 p, -C 46 =C 64 =m 55 q,C 45 =-C 54 =m 66 r,C 15 =-C 24 =C 42 =-C 51 =m 33 w,X u , Y v , Z w , K p , M q , N r represents the first-order hydrodynamic parameters of the autonomous underwater vehicle, represents the hydrodynamic derivative of the autonomous underwater vehicle, X u|u| |u|,Y v|v| |v|,Z w|w| |w|,K p|p| |p|,M q|q| |q|,N r|r| |r| represents the second-order hydrodynamic parameters of the autonomous underwater vehicle, I x , I y , I z Represents the moment of inertia.

[0012] In the second aspect, an embodiment of the present invention also provides a dynamic model construction device for an underwater robot, comprising: a data acquisition module, used to acquire position dynamic data and attitude dynamic data of a quadrotor vertical thruster; a position dynamic model determination module, used to determine the position dynamic model of an autonomous underwater vehicle based on the position dynamic data; an attitude dynamic model determination module, used to determine the attitude dynamic model of the autonomous underwater vehicle based on the attitude dynamic data; an initial dynamic model determination module, used to determine the initial dynamic model of the autonomous underwater vehicle based on the position dynamic model and the attitude dynamic model; and a target dynamic model determination module, used to simplify the initial dynamic model based on pre-set simplification rules to obtain a target dynamic model.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method for constructing a dynamic model of an underwater robot according to the first aspect.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method for constructing a dynamic model of an underwater robot according to the first aspect.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The embodiment of the present invention provides a method, device, equipment and medium for constructing a dynamic model of an underwater robot, which can obtain the position dynamic data and attitude dynamic data of a quad-rotor vertical thruster, determine the position dynamic model of the autonomous underwater vehicle based on the position dynamic data, determine the attitude dynamic model of the autonomous underwater vehicle based on the attitude dynamic data, determine the initial dynamic model of the autonomous underwater vehicle based on the position dynamic model and the attitude dynamic model, and simplify the initial dynamic model based on a preset simplification rule to obtain a target dynamic model. In this method, the underwater robot dynamic model is constructed from the two aspects of position dynamics and attitude dynamics, which improves the accuracy of the kinematic model, provides convenience and basis for the analysis of the free movement of the underwater robot, and solves the problem of difficulty in obtaining some parameters through model simplification, thereby improving the ease of use of the model.

[0017] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present disclosure.

[0018] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A flowchart of a method for constructing a dynamic model of an underwater robot provided by an embodiment of the present invention;

[0021] Figure 2 A flowchart of another method for constructing a dynamic model of an underwater robot provided by an embodiment of the present invention;

[0022] Figure 3A schematic diagram of the structure of a dynamic model building device for an underwater robot provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Dynamics models are the basis for the design and implementation of robot control systems. In terms of motion control: accurate dynamics models can better predict and simulate the motion behavior of underwater robots, thereby achieving precise control; in terms of performance optimization: dynamics models can help engineers understand the performance of underwater robots under different operating conditions, including speed, stability, and energy consumption, and thus optimize the design and operation process; in terms of improving safety: dynamics models can predict potential dangerous situations, such as collisions and failures, so as to design safer preventive measures and emergency response strategies; in terms of mission planning: accurate dynamics models are crucial for mission planning, and can help formulate effective path planning and mission execution strategies to improve operational efficiency.

[0026] It can be seen that the accuracy and multi-scenario availability of the dynamic model are necessary. Therefore, building an accurate and simple dynamic model is an urgent problem to be solved.

[0027] Based on this, the embodiment of the present invention provides a method, device, equipment and medium for constructing a dynamic model of an underwater robot. By obtaining the position power data and attitude power data of the quad-rotor vertical thruster, the position dynamic model of the autonomous underwater vehicle is determined based on the position power data, the attitude dynamic model of the autonomous underwater vehicle is determined based on the attitude power data, the initial dynamic model of the autonomous underwater vehicle is determined based on the position dynamic model and the attitude dynamic model, and the target dynamic model is obtained by simplifying the initial dynamic model based on the pre-set simplification rules. In this method, the underwater robot dynamic model is constructed from the two aspects of position power and attitude power, which improves the accuracy of the kinematic model, provides convenience and basis for the analysis of the free movement of the underwater robot, and solves the problem of difficulty in obtaining some parameters through model simplification, thereby improving the ease of use of the model.

[0028] To facilitate understanding of this embodiment, a method for constructing a dynamic model of an underwater robot disclosed in an embodiment of the present invention is first introduced in detail.

[0029] Example 1

[0030] The embodiment of the present invention provides a method for constructing a dynamic model of an underwater robot. Figure 1 The following is a flow chart of a method for constructing a dynamic model of an underwater robot provided by an embodiment of the present invention. Figure 1 As shown, the method for constructing the dynamic model of the underwater robot may include the following steps:

[0031] Step S101, obtaining position power data and attitude power data of a quadrotor vertical thruster.

[0032] Among them, the position dynamic data includes: inertia coefficient matrix, linear velocity, gravity coefficient matrix and quadrotor lift matrix.

[0033] Among them, the attitude dynamics data include: rotational inertia matrix, angular velocity, gyroscopic torque of the quadrotor structure and the torque generated by the propeller on the body axis.

[0034] Step S102: determining a position dynamics model of the autonomous underwater vehicle based on the position dynamics data.

[0035] Specifically, determining the position dynamics model of the autonomous underwater vehicle based on the position dynamics data may include: performing a state analysis of the autonomous underwater vehicle based on the principle of Newtonian mechanics, and determining that the position dynamics model is represented by the following formula:

[0036]

[0037] Among them, according to the principle of Newtonian mechanics, the force exerted on the autonomous underwater vehicle is the reason for the change of the state of the autonomous underwater vehicle. Therefore, it can be considered that the position dynamics model of the autonomous underwater vehicle under the quadrotor structure can be expressed by the above formula.

[0038] Among them, p indicates that the parameters are parameters in the position dynamics model; M represents the inertia coefficient matrix with additional mass coefficient; V represents the linear velocity in the carrier coordinate system; G represents the gravity coefficient matrix; T represents the quadrotor lift matrix.

[0039] Step S103: determining an attitude dynamics model of the autonomous underwater vehicle based on the attitude dynamics data.

[0040] Specifically, determining the attitude dynamics model of the autonomous underwater vehicle based on the attitude dynamics data may include: performing attitude analysis of the autonomous underwater vehicle based on the Euler equation, and determining that the attitude dynamics model is represented by the following formula:

[0041]

[0042] Among them, according to Euler's equation, the forces and moments exerted by the quadrotor on the frame of the autonomous underwater vehicle are the reasons for the attitude rotation of the autonomous underwater vehicle. Therefore, it can be considered that the attitude dynamics model of the autonomous underwater vehicle under the quadrotor structure is the above formula.

[0043] Among them, a represents the parameter in the attitude dynamics model; J represents the rotational inertia matrix; W represents the angular velocity in the body coordinate system; Ga represents the gyroscopic torque of the quadrotor structure. τ Ta = [τ x , τ y , τ z T , where τ represents the torque generated by the propeller on the body axis, including the roll torque τ x around the X-axis, the pitch torque τ y around the Y-axis, and the yaw torque τ z .

[0044] Among them, J 1 represents the total moment of inertia of the entire motor rotor and propeller around the body axis of rotation. Let represent the rotational speeds of the four propellers of the quadrotor respectively.

[0045] Step S104, determine the initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model.

[0046] Specifically, determining the initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model may include: after analyzing the vector representation of the pre-determined translational motion model and the pre-determined quadrotor rotation model, determining the initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model through the following formula:

[0047]

[0048] Among them, M represents the inertia coefficient matrix; C represents the Coriolis force and centripetal force coefficient matrix; D represents the hydrodynamic damping matrix; g represents the restoring force vector matrix, V el represents the speed and angular velocity information of the autonomous underwater vehicle; τ i represents the force and torque information of the translational motion model; τ d represents the external environmental disturbance force vector; τ T represents the force and torque information of the four-wing attitude rotation model.

[0049] Specifically, the vector representation of the translational motion model is the following formula:​

[0050]

[0051] Among them, M represents the inertia coefficient matrix, C represents the Coriolis force and centripetal force coefficient matrix, D represents the hydrodynamic damping matrix, g represents the restoring force vector matrix, τ = τ i +τ d represents the control force input matrix, including the external environmental disturbance force vector τ caused by the complex underwater environment d and the control force vector τ output by the AUV's own propeller i .

[0052] Since there is no vertical thruster in the translational motion model based on the main thrust and side thrust, there is only the longitudinal surge force F x , the sway force F y and the bow force M, so τ i =[F x , F y , 0, 0, 0, N] T .

[0053] Step S105 , simplifying the initial dynamics model based on a preset simplification rule to obtain a target dynamics model.

[0054] Among them, since some parameters in the above-mentioned matrix are difficult to obtain, and parameters such as hydrodynamic resistance show great uncertainty during the underwater cruising of the autonomous underwater vehicle, in order to simplify the model, the model can be simplified by simplifying rules by analyzing the state of the autonomous underwater vehicle in the underwater experiment.

[0055] Among them, the simplified rules may include: selecting the origin of the carrier coordinate system as the buoyancy center coordinates of the autonomous underwater vehicle; immersing the autonomous underwater vehicle as a whole in water during the depth-keeping cruise; adjusting the buoyancy center and center of the autonomous underwater vehicle to be at the same position; adjusting the autonomous underwater vehicle to be in a suspended state underwater, and keeping the hydrodynamic coefficient constant during the depth-keeping cruise of the autonomous underwater vehicle.

[0056] The method for constructing the dynamic model of an underwater robot provided by an embodiment of the present invention can obtain the position dynamic data and attitude dynamic data of a quad-rotor vertical thruster, determine the position dynamic model of an autonomous underwater vehicle based on the position dynamic data, determine the attitude dynamic model of the autonomous underwater vehicle based on the attitude dynamic data, determine the initial dynamic model of the autonomous underwater vehicle based on the position dynamic model and the attitude dynamic model, and simplify the initial dynamic model based on a pre-set simplification rule to obtain a target dynamic model. In this method, the underwater robot dynamic model is constructed from the two aspects of position dynamics and attitude dynamics, which improves the accuracy of the kinematic model, provides convenience and basis for the analysis of the free motion of the underwater robot, and solves the problem of difficulty in obtaining some parameters through model simplification, thereby improving the ease of use of the model.

[0057] Example 2

[0058] An embodiment of the present invention also provides another method for constructing a dynamic model of an underwater robot; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing a specific implementation method of simplifying the initial dynamic model based on pre-set simplification rules to obtain a target dynamic model.

[0059] Figure 2 A flowchart of another method for constructing a dynamic model of an underwater robot provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, the method of simplifying the initial kinetic model based on the preset simplification rules to obtain the target kinetic model may include the following steps:

[0060] Step S201 , simplifying the inertia coefficient matrix, Coriolis force and centripetal force coefficient matrix, and hydrodynamic damping matrix in the initial dynamic model based on simplification rules to obtain a target inertia coefficient matrix, a target Coriolis force and centripetal force coefficient matrix, and a target hydrodynamic damping matrix.

[0061] Specifically, the target inertia coefficient matrix is ​​expressed as the following formula:

[0062]

[0063] The target Coriolis force and centripetal force coefficient matrix is ​​expressed as the following formula:

[0064]

[0065] The target hydrodynamic damping matrix is ​​expressed as follows:

[0066]

[0067] Where M represents the target inertia coefficient matrix, C(v) represents the target Coriolis force and centripetal force coefficient matrix, and D represents the target hydrodynamic damping matrix.

[0068] Step S202, substituting the target inertia coefficient matrix, the target Coriolis force and centripetal force coefficient matrix, and the target hydrodynamic damping matrix into the initial dynamic model to obtain the target dynamic model.

[0069] Specifically, the target dynamics model is expressed as the following formula:

[0070]

[0071] in, d 11 =X u +X u|u| |u|,d 22 =Y v +Y v|v| |v|,d 33 =Z w +Z w|w| |w|,d 44 =K p +K p|p| |p| d 55 =M q +M q|q| |q|,d 66 =N r +N r|r| |r|,C 26 =-C 35 =C 53 =-C 62 =m 11 u-C 16 =C 34 =-C 43 =C 61 =m 22 v C 56 =-C 65 =m 44 p, -C 46 =C 64 =m 55 q C 45 =-C 54 =m 66 r, C 15 =-C 24 =C 42 =-C 51 =m 33 w

[0072] Among them, X u , Y v , Zw , K p , M q , N r represents the first-order hydrodynamic parameters of the autonomous underwater vehicle, represents the hydrodynamic derivative of the autonomous underwater vehicle, X u|u| |u|,Y v|v| |v|,Z w|w| |w|,K p|p| |p|,M q|q| |q|,N r|r| |r| represents the second-order hydrodynamic parameters of the autonomous underwater vehicle, I x , I y , I z Represents the moment of inertia.

[0073] Example 3

[0074] Corresponding to the above method embodiment, the embodiment of the present invention provides a dynamic model construction device for an underwater robot, Figure 3 A schematic diagram of a structure of a dynamic model building device for an underwater robot provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the dynamic model building device of the underwater robot may include:

[0075] The data acquisition module 301 is used to acquire the position power data and attitude power data of the quadrotor vertical thruster.

[0076] The position dynamics model determination module 302 is used to determine the position dynamics model of the autonomous underwater vehicle based on the position dynamics data.

[0077] The attitude dynamics model determination module 303 is used to determine the attitude dynamics model of the autonomous underwater vehicle based on the attitude dynamics data.

[0078] The initial dynamics model determination module 304 is used to determine the initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model.

[0079] The target dynamics model determination module 305 is used to simplify the initial dynamics model based on a preset simplification rule to obtain a target dynamics model.

[0080] The underwater robot dynamic model construction device provided by the embodiment of the present invention can obtain the position dynamic data and attitude dynamic data of the quad-rotor vertical thruster, determine the position dynamic model of the autonomous underwater vehicle based on the position dynamic data, determine the attitude dynamic model of the autonomous underwater vehicle based on the attitude dynamic data, determine the initial dynamic model of the autonomous underwater vehicle based on the position dynamic model and the attitude dynamic model, and simplify the initial dynamic model based on the pre-set simplification rules to obtain the target dynamic model. In this way, the underwater robot dynamic model is constructed from the two aspects of position dynamics and attitude dynamics, which improves the accuracy of the kinematic model, provides convenience and basis for the analysis of the free movement of the underwater robot, and solves the problem of difficulty in obtaining some parameters through model simplification, thereby improving the ease of use of the model.

[0081] In some embodiments, the position dynamics data includes: inertia coefficient matrix, linear velocity, gravity coefficient matrix and quadrotor lift matrix; the position dynamics model determination module is also used to perform state analysis of the autonomous underwater vehicle based on the principle of Newtonian mechanics, and determine the position dynamics model represented by the following formula: Among them, p indicates that the parameters are parameters in the position dynamics model; M represents the inertia coefficient matrix with additional mass coefficient; V represents the linear velocity in the carrier coordinate system; G represents the gravity coefficient matrix; T represents the quadrotor lift matrix.

[0082] In some embodiments, the attitude dynamics data includes: a rotational inertia matrix, an angular velocity, a gyroscopic torque of a quadrotor structure, and a torque generated by a propeller on a body axis; the attitude dynamics model determination module is also used to perform attitude analysis of the autonomous underwater vehicle based on the Euler equation, and determine that the attitude dynamics model is represented by the following formula: Among them, a indicates that the parameter is a parameter in the attitude dynamics model; J represents the rotational inertia matrix; W represents the angular velocity in the carrier coordinate system; Ga represents the gyroscopic torque of the quadrotor structure; τ represents the torque generated by the propeller on the body axis, including the rolling torque τ around the X axis x , the pitch moment τ around the Y axis y , the yaw moment τ around the Z axis z , τ Ta =[τ x ,τ y ,τ z ] T

[0083] In some embodiments, the initial dynamics model determination module is further used to determine the initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model by analyzing the vector representation of the predetermined translational motion model and the predetermined quadrotor rotation model through the following formula:

[0084]

[0085] Where M is the inertia coefficient matrix; C is the Coriolis force and centripetal force coefficient matrix; D is the hydrodynamic damping matrix; g is the restoring force vector matrix, V el Represents the speed and angular velocity information of the autonomous underwater vehicle; τ i Represents the force and torque information of the translational motion model; τ d Represents the external environment interference force vector; τ T Represents the force and torque information of the four-wing attitude rotation model.

[0086] In some embodiments, the simplified rules include: selecting the origin of the carrier coordinate system as the buoyancy center coordinates of the autonomous underwater vehicle; immersing the autonomous underwater vehicle as a whole in water during constant depth cruising; adjusting the buoyancy center and center of the autonomous underwater vehicle to be at the same position; and adjusting the autonomous underwater vehicle to be in a suspended state underwater.

[0087] In some embodiments, the target dynamic model determination module is also used to simplify the inertia coefficient matrix, Coriolis force and centripetal force coefficient matrix, and hydrodynamic damping matrix in the initial dynamic model based on simplification rules to obtain the target inertia coefficient matrix, target Coriolis force and centripetal force coefficient matrix, and target hydrodynamic damping matrix; substitute the target inertia coefficient matrix, target Coriolis force and centripetal force coefficient matrix, and target hydrodynamic damping matrix into the initial dynamic model to obtain the target dynamic model.

[0088] In some embodiments, the target inertia coefficient matrix is ​​expressed as: The target Coriolis force and centripetal force coefficient matrix is ​​expressed as: The target hydrodynamic damping matrix is ​​expressed as: Where M represents the target inertia coefficient matrix, C(v) represents the target Coriolis force and centripetal force coefficient matrix, and D represents the target hydrodynamic damping matrix. The target dynamic model is expressed as: in, d 11 =X u +X u|u| |u|,d 22 =Y v +Y v|v| |v|,d 33 =Z w +Z w|w| |w|,d 44 =K p +K p|p| |p|,d 55 =M q +M q|q||q|,d 66 =N r +N r|r| |r|,C 26 =-C 35 =C 53 =-C 62 =m 11 uC 16 =C 34 =-C 43 =C 61 =m 22 v C56=-C 65 =m 44 p, -C 46 =C 64 =m 55 q, C 45 =-C 54 =m 66 r,C 15 =-C 24 =C 42 =-C 51 m 33 wWherein,X u , Y v , Z w , K p , M q , N r represents the first-order hydrodynamic parameters of the autonomous underwater vehicle, represents the hydrodynamic derivative of the autonomous underwater vehicle, X u|u| |u|,Y v|v| |v|,Z w|w| |w|,K p|p| |p|,M q|q| |q|,N r|r| |r| represents the second-order hydrodynamic parameters of the autonomous underwater vehicle, I x , I y , I z Represents the moment of inertia.

[0089] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned method embodiment.

[0090] Example 4

[0091] The embodiment of the present invention also provides an electronic device for executing the above-mentioned method for constructing a dynamic model of an underwater robot; see Figure 4A structural schematic diagram of an electronic device is shown, which includes a memory 400 and a processor 401, wherein the memory 400 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 401 to implement the above-mentioned method for constructing a dynamic model of the underwater robot.

[0092] Further, Figure 4 The electronic device shown further includes a bus 402 and a communication interface 403 , and the processor 401 , the communication interface 403 and the memory 400 are connected via the bus 402 .

[0093] The memory 400 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 403 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 402 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0094] The processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 401. The above processor 401 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 400, and the processor 401 reads the information in the memory 400 and completes the steps of the method of the above embodiment in combination with its hardware.

[0095] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned underwater robot dynamic model construction method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0096] The computer program product for the method of constructing a dynamic model of an underwater robot provided in an embodiment of the present invention includes a computer-readable storage medium storing a non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0097] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0098] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0099] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0101] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0102] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for constructing a dynamic model of an underwater robot, characterized in that: The method comprises: Obtain the position power data and attitude power data of the quadrotor vertical thruster; determining a position dynamics model of the autonomous underwater vehicle based on the position dynamics data; Determining an attitude dynamics model of the autonomous underwater vehicle based on the attitude dynamics data; Determining an initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model; The initial kinetic model is simplified based on preset simplification rules to obtain a target kinetic model.

2. The method according to claim 1, characterized in that The position dynamic data includes: inertia coefficient matrix, linear velocity, gravity coefficient matrix and quadrotor lift matrix; The determining of the position dynamics model of the autonomous underwater vehicle based on the position dynamics data comprises: Based on the principle of Newtonian mechanics, the state analysis of the autonomous underwater vehicle is carried out, and the position dynamics model is determined to be represented by the following formula: Among them, p represents the parameter is a parameter in the position dynamics model; M represents the inertia coefficient matrix with additional mass coefficient; V represents the linear velocity in the carrier coordinate system; G represents the gravity coefficient matrix; T represents the quadrotor lift matrix.

3. The method according to claim 2, characterized in that The attitude dynamic data includes: rotational inertia matrix, angular velocity, gyroscopic torque of the quadrotor structure and torque generated by the propeller on the body axis; The step of determining the attitude dynamics model of the autonomous underwater vehicle based on the attitude dynamics data comprises: Based on the Euler equation, the attitude analysis of the autonomous underwater vehicle is performed, and the attitude dynamics model is determined to be represented by the following formula: Wherein, a represents a parameter in the attitude dynamics model; J represents the rotation inertia matrix; W represents the angular velocity in the carrier coordinate system; G a represents the gyroscopic torque of the quadrotor structure; τ Ta =[τ x , τ y , τ z ] T , τ represents the torque generated by the propeller on the fuselage axis, including the rolling torque τ around the X axis x , the pitch moment τ around the Y axis y , the yaw moment τ around the Z axis z .

4. The method according to claim 2, characterized in that: The determining of the initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model comprises: After analyzing the vector representation of the predetermined translational motion model and the predetermined quadrotor rotation model, the initial dynamic model of the autonomous underwater vehicle is determined based on the position dynamic model and the attitude dynamic model by the following formula: Where M is the inertia coefficient matrix; C is the Coriolis force and centripetal force coefficient matrix; D is the hydrodynamic damping matrix; g is the restoring force vector matrix, V el represents the speed and angular velocity information of the autonomous underwater vehicle; τ i Represents the force and torque information of the translational motion model; τ d Represents the external environment interference force vector; τ T Represents the force and torque information of the four-wing attitude rotation model.

5. The method according to claim 4, characterized in that The simplified rules include: The origin of the carrier coordinate system is selected as the buoyancy center coordinate of the autonomous underwater vehicle; The autonomous underwater vehicle is immersed in water as a whole during the depth-fixed cruising process; Adjusting the center of buoyancy and the center of the autonomous underwater vehicle to be at the same position; The autonomous underwater vehicle is adjusted to be in a suspended state underwater.

6. The method according to claim 5, characterized in that The step of simplifying the initial kinetic model based on a preset simplification rule to obtain a target kinetic model includes: Based on the simplification rule, the inertia coefficient matrix, the Coriolis force and centripetal force coefficient matrix, and the hydrodynamic damping matrix in the initial dynamic model are simplified to obtain a target inertia coefficient matrix, a target Coriolis force and centripetal force coefficient matrix, and a target hydrodynamic damping matrix; The target inertia coefficient matrix, the target Coriolis force and centripetal force coefficient matrix, and the target hydrodynamic damping matrix are substituted into the initial dynamic model to obtain a target dynamic model.

7. The method according to claim 6, characterized in that The target inertia coefficient matrix is ​​expressed as: The target Coriolis force and centripetal force coefficient matrix is ​​expressed as: The target hydrodynamic damping matrix is ​​expressed as: Where M represents the target inertia coefficient matrix, C(v) represents the target Coriolis force and centripetal force coefficient matrix, and D represents the target hydrodynamic damping matrix; The target dynamics model is expressed as: Among them, d 11 = X u + X u|u| |u| d 22 = Y v + Y v|v| |v|, d 33 = Z w + Z w|w| |w|, d 44 = K p + K p|p| |p|, d 55 = M q + M q|q| |q|, d 66 = N r + N r|r| |r|, C 26 = -C 35 = C 53 = -C 62 = m 11 u - C 16 = C 34 = -C 43 = C 61 = m 22 v C 56 = -C 65 = m 44 p, -C 46 = C 64 = m 55 q C 45 = -C 54 = m 66 r, C 15 = -C 24 = C 42 = -C 51 = m 33 w Among them, X u , Y v , Z w , K p , M q , N r represents the first-order hydrodynamic parameters of the autonomous underwater vehicle, represents the hydrodynamic derivative of the autonomous underwater vehicle, X u|u| |u|,Y v|v| |v|,Z w|w| |w|,K p|p| |p|,M q|q| |q|,N r|r| |r| The second-order hydrodynamic parameters of the autonomous underwater vehicle, I x , I y , I z Represents the moment of inertia.

8. A dynamic model construction device for an underwater robot, characterized in that: The device comprises: A data acquisition module is used to acquire the position power data and attitude power data of the quadrotor vertical thruster; a position dynamics model determination module, configured to determine a position dynamics model of the autonomous underwater vehicle based on the position dynamics data; An attitude dynamics model determination module, used to determine an attitude dynamics model of the autonomous underwater vehicle based on the attitude dynamics data; An initial dynamics model determination module, used to determine an initial dynamics model of the autonomous underwater vehicle based on the position dynamics model and the attitude dynamics model; The target dynamic model determination module is used to simplify the initial dynamic model based on a preset simplification rule to obtain a target dynamic model.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the method for constructing a dynamic model of an underwater robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the method for constructing a dynamic model of an underwater robot according to any one of claims 1 to 7.

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