CN103455037A - UUV underwater recycling control system and control method based on self-adaptation algorithm - Google Patents
UUV underwater recycling control system and control method based on self-adaptation algorithm Download PDFInfo
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- CN103455037A CN103455037A CN2013104331615A CN201310433161A CN103455037A CN 103455037 A CN103455037 A CN 103455037A CN 2013104331615 A CN2013104331615 A CN 2013104331615A CN 201310433161 A CN201310433161 A CN 201310433161A CN 103455037 A CN103455037 A CN 103455037A
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Abstract
The invention provides a UUV underwater recycling control system and control method based on a self-adaptation algorithm. The system comprises a water surface monitoring computer, a mission management computer, a dynamic control computer, a visual sensor, a short base line positioning sonar, a posture sensor, a Doppler speed testing instrument, a main propeller and a channel auxiliary propeller. Communication is carried out among the water surface monitoring computer, the mission management computer and the dynamic control computer through a network, a UUV self-adaptation recycling control system is embedded in the mission management computer, and the visual sensor, the short base line positioning sonar, the posture sensor and the Doppler speed testing instrument communicate through serial ports and send collected information to the dynamic control computer. The dynamic control computer controls the main propeller and the channel auxiliary propeller through electric signals. According to the system and method, a UUV can be safely and accurately recycled to a carrying platform of an underwater work station.
Description
Technical field
What the present invention relates to is the voluntary recall control system that a kind of UUV returns to the underwater operation station.What the present invention relates to is the voluntary recall control method that a kind of UUV returns to the underwater operation station.
Background technology
Because task needs and carry the constraint of the energy, the limited time that UUV works under water, must be retrieved makeup energy, uploading data, download instruction and Support to it.Due to the disguise that reclaims the platform scope of activities under water and security needs, require the removal process of UUV under the condition by third party's utility appliance not, to realize that UUV independently returns to the carrying platform on the underwater operation station.UUV voluntary recall under water not only is subject to the constraint in time and space very little, also can save a large amount of utility appliance and manpower, but the key issue that still has at present many urgent needs to solve, such as the complicated applied force of UUV in removal process, the nonlinear motion control under circumstances not known etc.
Consider to reclaim and be located in process, the hydrodynamic property generation acute variation that UUV is subject to, the uncertainty of UUV mathematical model and the randomness of near wall environmental perturbation have been caused, therefore adopting adaptive algorithm is controlled, reason is, for characterisitic parameter, the system changed is in a big way arranged, and adaptive controller still can automatically remain on the optimal motion state under certain meaning.
The article that the Hou Shu of Harbin Engineering University duckweed was delivered in " robot " (the 3rd phase in 2005) " research is controlled in the coordination of underwater robot active mating device " is equipped with four two-freedom interfacing manipulators in the docking skirt outside, be used for realizing that underwater robot docks with latent the accurate of device of accident under severe marine environment, and application discrete event system theory realizes the coordination control of four mechanical arms and underwater robot, solve the timeliness problem of system, made it to become practicable control method.But the voluntary recall system architecture complexity of application machine arm, and easily produce more the interference.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can make UUV safety, accurately realize reclaiming the recovery control system under water of the UUV based on adaptive algorithm that is located carrying platform.The present invention also aims to provide a kind of UUV based on adaptive algorithm recycling and control method under water.
The object of the present invention is achieved like this:
UUV based on adaptive algorithm of the present invention recovery control system under water comprises monitor surface computing machine 1, mission management computing machine 2, dynamically control computing machine 3, vision sensor 5, short baseline fixed sonar 6, attitude sensor 7, Doppler anemometer 8, main thruster 9 and conduit auxiliary propeller 10, monitor surface computing machine 1, mission management computing machine 2 and dynamic control between computing machine 3 are carried out communication by network, UUV self-adaptation recovery control system 4 is embedded in mission management computing machine 2, vision sensor 5, short baseline fixed sonar 6, attitude sensor 7, Doppler anemometer 8 is sent the information collected into dynamic control computing machine 3 by serial communication, dynamically control computing machine 3 and control main thruster 9 and conduit auxiliary propeller 10 by electric signal.
UUV based on adaptive algorithm of the present invention recovery control system under water can also comprise:
1, vision sensor 5, short baseline fixed sonar 6 are arranged under the UUV abdomen.
2, the transmission frequency between state control computing machine 3 and mission management computing machine 2 is 2Hz.
UUV based on adaptive algorithm of the present invention recycling and control method under water is:
The posture information that vision sensor 5, short baseline fixed sonar 6, attitude sensor 7, Doppler anemometer 8 gather in the UUV removal process, communicate and send to dynamic control computing machine 3 by serial ports, then pass to mission management computing machine 2 by network service;
Mission management computing machine 2 utilizes the deviation between the carrying platform collection centre on real-time pose information and underwater operation station, use adaptive control algorithm to calculate the controller output of control UUV six-freedom motion, and pass to dynamic control computing machine 3 by network communication;
Dynamically controlling computing machine 3 resolves through thrust distribution and motion control, utilize the control voltage of regulating each topworks to adjust the output force and moment of main thruster 9 and conduit auxiliary propeller 10, and then control position and the attitude of UUV in the near wall removal process.
UUV based on adaptive algorithm of the present invention recycling and control method under water can also comprise:
1, the posture information in described UUV removal process comprises the speed of UUV, reclaim X, Y-direction distance and the Z direction height of platform central point with UUV centre distance under the ship coordinate system, the UUV degree of depth, angle of heel, trim angle and UUV bow to and reclaim the platform bow to an angle.
2, carrying platform on described underwater operation station is the recovery carrying platform that UUV reclaims that is specifically designed to arranged on the workstation back under water, reclaim on carrying platform the UUV locking device is installed, UUV approaches the underwater operation station at first from afar, keep relative static with the underwater operation station when arriving certain altitude place, recovery carrying platform top, if the underwater operation station is kept in motion, UUV is consistent at movement velocity and the underwater operation station of all directions, recovery controller is according to posture information, adjust UUV position and attitude, make the UUV center arrive and reclaim directly over the carrying platform central point, and bow to reclaim the carrying platform bow to consistent, then UUV starts slow decreasing, until being seated in, reclaims on platform UUV, the recycling locking device is fixed on UUV to reclaim on carrying platform, UUV can be moved with ship, be that the UUV removal process finishes.
3, arrive to reclaim the method directly over the carrying platform central point be that UUV adopts short baseline fixed sonar acoustics guiding while apart from the recovery point height, being greater than 2 meters at the described UUV of order center, adopts the vision sensor visual guidance while being less than or equal to 2 meters.
4, make the UUV bow to reclaim the carrying platform bow to consistent be to adopt the line traffic control method for position.
Sensor gathers the posture information in the UUV removal process, sends to dynamic control computing machine by serial communication, then passes to the mission management computing machine by network service; Be mounted with the UUV self-adaptation in the mission management computing machine and reclaim control program, utilize UUV the real-time pose state and and reclaim the deviation between dbjective state, use adaptive control algorithm, calculate the control required topworks of UUV six-freedom motion under unknown near wall environment and always export force and moment, and by network communication, these instructions are passed to dynamic control computing machine; Dynamically control the characteristics of computing machine according to each topworks, by motion control, resolve and the thrust distribution, and the control voltage that utilizes adjustment actuating mechanism adjusts position and the attitude of UUV removal process, realize UUV safety, be recovered to the carrying platform on the underwater operation station exactly.
The accompanying drawing explanation
Fig. 1 is overall construction drawing of the present invention;
Fig. 2 is UUV removal process schematic diagram
Fig. 3 is UUV removal process control system structural drawing;
Fig. 4 (a)-Fig. 4 (b) is UUV sonar, topworks's arrangenent diagram, the side view that Fig. 4 (a) is UUV, the vertical view that Fig. 4 (b) is UUV.
Embodiment
Below in conjunction with accompanying drawing, the present invention is done and describes in detail:
Fig. 1 illustrates the relation between each several part in the present invention, UUV reclaims in adaptive control system, monitor surface computing machine 1 and dynamic control computing machine 3 are PC, mission management computing machine 2 is the PC104 bus computer, embedded software all in them, by LAN (Local Area Network), intercom mutually, for the voluntary recall of UUV self-adaptation control method; Wherein UUV self-adaptation recovery control system 4 is embedded in mission management computing machine 2; Vision sensor 5, short baseline fixed sonar 6, attitude sensor 7 and Doppler anemometer 8, by serial communication, send image data to dynamic control computing machine; Dynamically control computing machine 3 and control main thruster 9 and conduit auxiliary propeller 10 by electric signal;
The schematic diagram that Fig. 2 is the UUV removal process.After the UUV reclaimer is by specific instruction or Event triggered, the recovery platform that UUV starts to make a return voyage and approaches the underwater operation station, reclaim the carrying platform top until arrive, and approach apart from platform top 2m At The Height.The process that UUV approaches the underwater operation station can be decomposed into basically: according to sonar set calculate the UUV bow to and underwater operation station carrying platform between angle, adjusting bow is 0 to making its angle, then utilizes main thruster to drive towards carrying platform; Drive towards in the process of carrying platform, if UUV environment of living in is desirable Lentic environment, this process can be understood as direct route, if but have the external interference such as ocean current to exist in environment, in this process, may make course line elongated because overcoming interference, need again to adjust even midway bow to, in order to avoid driftage, until arrive platform top 2m At The Height;
When arriving the underwater operation station, UUV reclaims platform top 2m At The Height, and the UUV height state of sonar collection in continuously certain umber of beats still maintains in allowed band, can enter being located the stage of removal process at UUV, at first UUV need to be consistent with the carrying platform forward to being adjusted into by bow, and this process need utilizes vision sensor on UUV and the electric light source on carrying platform to be calibrated.When the UUV bow to the carrying platform forward in a little deviation, UUV need to keep relative static with the underwater operation station, be that the headway of UUV all directions and the speed at underwater operation station are consistent basically, thereby make the UUV center and reclaim the platform center to remain on relative static in the permissible error scope.After UUV center that the certain umber of beats of sonar continuous acquisition obtains and the deviation between the carrying platform center still maintain in certain certain scope, the UUV facility starts to be located with auxiliary propeller.If surrounding environment is hydrostatic, and characteristics of motion variation in underwater operation station is inviolent, and this process UUV substantially can be only by vertically being located; If but have external interference in environment, or the workstation characteristics of motion changes in violent situation under water, in the process that UUV is located, may still need adjustment bow several times to and and carrying platform between relative position, to guarantee the accuracy of final seating position.The UUV locking device is installed on carrying platform, and when UUV finally is located while reclaiming on platform, locking device is fixed on UUV to reclaim on platform, and UUV just can move with ship, and can be charged or the work such as data transmission, completes whole removal process.
Shown in Fig. 3, the adaptive control system of UUV removal process comprises following step:
(I), after UUV completes predict task, mission management computing machine 2 is assigned recovery command, and UUV starts to enter recovery stage;
Position and attitude information that (II) vision sensor 5, short baseline fixed sonar 6, attitude sensor 7 and Doppler anemometer 8 gather in the UUV removal process, and pass to dynamic control computing machine 3 by serial ports, dynamically control computing machine and multi-sensor data is processed and merged, send the UUV posture information after merging to monitor surface computing machine 1 by network service and monitor in real time and show; By these information, can know in real time position and attitude misalignment in the heart in longitudinal velocity, UUV center and the carrying platform of UUV;
(III) compares the expected pose of treated UUV real-time pose information and recovery, obtains deviate, and the self-adaptation estimation mechanism of application real-time pose and deviate design is
In above formula:
---be the derivative of the estimated value of the hydrodynamic force coefficient of every the unknown of UUV removal process;
Γ---be a positive definite symmetrical matrix of design;
Y---be UUV system state parameter corresponding to every hydrodynamic force coefficient;
S---be the actual speed error vector of UUV.
Unknown hydrodynamic force item is carried out to On-line Estimation, and bring its estimated value into adaptive control law, obtain
In above formula: τ---reclaim for controlling UUV the total force and moment be located;
K
d---be the constant matrices of 2x2 of design;
β---be the every known corresponding force and moment of hydrodynamic force coefficient of UUV removal process.
What so just can calculate controller output reclaims for controlling UUV the total force and moment be located;
(IV) controls force and moment to the total UUV through over-compensation, carry out the thrust distribution according to the characteristic of each topworks, topworks's self-characteristic and the characteristic of UUV recovery system are respectively: two main thrusters: left-right symmetric is arranged on both sides, tailplane axis, can control UUV axial location and speed, and when UUV with reclaim when the platform bow differs larger to angle rely on two thrust Differential Control UUV bows of promoting mainly device to; Four conduit auxiliary propellers: wherein two is laterally to install, two is vertical installation, the bow of UUV and stern are separately installed with a horizontal and vertical auxiliary propeller, such mounting means can make the lateral channel thruster produce lateral thrust and yawing moment, and vertical conduit thruster can produce vertical thrust and Trimming Moment.
Due to the constraint of topworks's self-characteristic, must carry out amplitude limit to the force and moment of distributing to each topworks, be issued to good recovery control effect to guarantee the UUV system in the prerequisite of safety.Topworks's characteristic is: two main thrusters: single maximum is output as 100 kgfs; Four conduit auxiliary propellers: single maximum is output as 10 kgfs.
(V) converts steering order to voltage signal in order to drive each topworks.
Fig. 4 has illustrated the deployment scenarios of UUV sonar, topworks, the side view that Fig. 4 (a) is UUV, the vertical view that Fig. 4 (b) is UUV.Two main thrusters (A, B) are positioned at left-right symmetric and are arranged on both sides, tailplane axis, can control UUV axial location and speed, and when UUV with reclaim when the platform bow differs larger to angle rely on two thrust Differential Control UUV bows of promoting mainly device to; Four conduit auxiliary propellers (C, D, L, M) minute auxiliary propeller C and L are arranged on the bow of UUV, auxiliary propeller D and M are arranged on the stern of UUV, auxiliary propeller C, D can produce lateral thrust and yawing moment, and auxiliary propeller L, M can produce vertical thrust and Trimming Moment; Vision sensor (E) and Doppler anemometer (J) are arranged on UUV belly axis; Four short baseline fixed sonars (F, G, H, I) symmetry respectively are arranged on the UUV bottom; It is inner by paracentral position that attitude sensor (K) is arranged on UUV.
Claims (8)
1. the UUV based on adaptive algorithm recovery control system under water, it is characterized in that: comprise monitor surface computing machine (1), mission management computing machine (2), dynamically control computing machine (3), vision sensor (5), short baseline fixed sonar (6), attitude sensor (7) and Doppler anemometer (8), monitor surface computing machine (1), mission management computing machine (2) and dynamic control between computing machine (3) are carried out communication by network, UUV self-adaptation recovery control system (4) is embedded in mission management computing machine (2), vision sensor (5), short baseline fixed sonar (6), attitude sensor (7), Doppler anemometer (8) is sent the information collected into dynamic control computing machine (3) by serial communication, dynamically control computing machine (3) and control main thruster (9) and conduit auxiliary propeller (10) by electric signal.
2. the UUV based on adaptive algorithm according to claim 1 recovery control system under water, it is characterized in that: vision sensor (5), short baseline fixed sonar (6) are arranged under the UUV abdomen.
3. the UUV based on adaptive algorithm according to claim 1 and 2 recovery control system under water, it is characterized in that: the transmission frequency that state is controlled between computing machine (3) and mission management computing machine (2) is 2Hz.
4. based on the UUV based on the adaptive algorithm claimed in claim 1 control method of recovery control system under water, it is characterized in that:
Vision sensor (5), short baseline fixed sonar (6), attitude sensor (7), Doppler anemometer (8) gather the posture information in the UUV removal process, communicate and send to dynamic control computing machine (3) by serial ports, then pass to mission management computing machine (2) by network service;
Mission management computing machine (2) utilizes the deviation between the carrying platform collection centre on real-time pose information and underwater operation station, use adaptive control algorithm to calculate the controller output of control UUV six-freedom motion, and pass to dynamic control computing machine (3) by network communication;
Dynamically controlling computing machine (3) resolves through thrust distribution and motion control, utilize the control voltage of regulating each topworks to adjust the output force and moment of main thruster (9) and conduit auxiliary propeller (10), and then control position and the attitude of UUV in the near wall removal process.
5. the UUV based on adaptive algorithm according to claim 4 recycling and control method under water, it is characterized in that: the posture information in described UUV removal process comprises the speed of UUV, reclaim X, Y-direction distance and the Z direction height of platform central point with UUV centre distance under the ship coordinate system, the UUV degree of depth, angle of heel, trim angle and UUV bow to and reclaim the platform bow to an angle.
6. according to the described UUV based on adaptive algorithm of claim 4 or 5 recycling and control method under water, it is characterized in that: the carrying platform on described underwater operation station is the recovery carrying platform that UUV reclaims that is specifically designed to arranged on the workstation back under water, reclaim on carrying platform the UUV locking device is installed, UUV approaches the underwater operation station at first from afar, keep relative static with the underwater operation station when arriving certain altitude place, recovery carrying platform top, if the underwater operation station is kept in motion, UUV is consistent at movement velocity and the underwater operation station of all directions, recovery controller is according to posture information, adjust UUV position and attitude, make the UUV center arrive and reclaim directly over the carrying platform central point, and bow to reclaim the carrying platform bow to consistent, then UUV starts slow decreasing, until being seated in, reclaims on platform UUV, the recycling locking device is fixed on UUV to reclaim on carrying platform, UUV can be moved with ship, be that the UUV removal process finishes.
7. the UUV based on adaptive algorithm according to claim 6 recycling and control method under water, it is characterized in that: it is that UUV adopts short baseline fixed sonar acoustics guiding while apart from the recovery point height, being greater than 2 meters that method directly over the carrying platform central point arrive is reclaimed at the described UUV of order center, adopts the vision sensor visual guidance while being less than or equal to 2 meters.
8. the UUV based on adaptive algorithm according to claim 6 recycling and control method under water is characterized in that: make the UUV bow to reclaim the carrying platform bow to consistent be to adopt the line traffic control method for position.
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| CN105700356A (en) * | 2016-02-25 | 2016-06-22 | 哈尔滨工程大学 | UUV positioning-to-line recovery method based on robustness constraint model prediction control |
| CN105786012A (en) * | 2016-03-24 | 2016-07-20 | 哈尔滨工程大学 | UUV virtual speed control method based on bio-inspired model |
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN107957729A (en) * | 2017-10-13 | 2018-04-24 | 中国船舶重工集团公司七五0试验场 | Underwater robot makes a return voyage control method, computer and storage medium automatically |
| CN108345313A (en) * | 2018-01-19 | 2018-07-31 | 浙江大学 | A kind of interconnection method of submarine navigation device and connection station |
| CN111190168A (en) * | 2018-11-14 | 2020-05-22 | 中国科学院声学研究所 | Posture stabilizing method of side-scan sonar |
| CN111601089A (en) * | 2020-05-28 | 2020-08-28 | 大连海事大学 | AUV recovery platform for monitoring AUV recovery and hoisting process in real time |
| CN111650970A (en) * | 2020-05-28 | 2020-09-11 | 大连海事大学 | Underwater positioning method for recycling AUV (autonomous Underwater vehicle) |
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| CN105786012B (en) * | 2016-03-24 | 2018-09-04 | 哈尔滨工程大学 | UUV pseudo-velocity control methods based on biology excitation model |
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| CN111190168B (en) * | 2018-11-14 | 2022-01-11 | 中国科学院声学研究所 | Posture stabilizing method of side-scan sonar |
| CN111601089A (en) * | 2020-05-28 | 2020-08-28 | 大连海事大学 | AUV recovery platform for monitoring AUV recovery and hoisting process in real time |
| CN111650970A (en) * | 2020-05-28 | 2020-09-11 | 大连海事大学 | Underwater positioning method for recycling AUV (autonomous Underwater vehicle) |
| CN111601089B (en) * | 2020-05-28 | 2022-04-12 | 大连海事大学 | AUV recovery system for real-time monitoring AUV recovery and hoisting process |
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