CN104155991A - Underwater robot pose control method - Google Patents
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- CN104155991A CN104155991A CN201410422945.2A CN201410422945A CN104155991A CN 104155991 A CN104155991 A CN 104155991A CN 201410422945 A CN201410422945 A CN 201410422945A CN 104155991 A CN104155991 A CN 104155991A
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Abstract
The invention provides an underwater robot pose control method. The method comprises the steps that the balanced structural design is adopted, modeling is carried out on a symmetric frame structure, and a pitch angle, a rolling angle and a yaw angle of the pose of a robot are measured through a sensor; subtraction is carried out on expected values and values of the pitch angle, the rolling angle and the yaw angle to obtain errors, the errors are adjusted through the PID algorithm, and a motor is controlled to keep the pose balanced. According to the underwater robot pose control method, the robot can have stability of the pose capable of resisting environmental disturbance underwater, and it is ensured that the robot can smoothly complete delicate and complex work.
Description
Technical field
The present invention relates to a kind of underwater robot posture control method.
Background technology
In recent years, the research of underwater robot becomes new forward position in navigation research and the problem of focus gradually.The application prospect of underwater robot in deep-sea is also along with seabed mine locating, the development that subsea cable is safeguarded and more broad, simultaneously also more and more higher to the requirement of underwater robot maneuverability and maneuverability, in the process that robot executes the task under water, not only require it under environmental perturbation, can move according to projected path, and need in many cases to utilize underwater robot to carry out finer observation and operation to object, this just needs underwater robot to remain unchanged with respect to the position of object, the higher attitude stability that requires underwater robot to have can to resist environmental perturbation, it is careful to complete smoothly like this, complicated work.
But at present, many underwater robots under water attitude adjustment aspect automatically not have to drop into too large energy, and robot fixed point suspends, the ability of resisting flow-disturbing a little less than.The task that robot completes is under water limited.
Summary of the invention
The object of this invention is to provide a kind of underwater robot posture control method, can realize the attitude of robot in water steady, solve the robot fixed point existing in prior art and suspend, the ability of opposing flow-disturbing a little less than, the limited problem of task that robot completes under water.
Underwater robot, claims again unmanned underwater vehicle, is that a kind of operation is in limit operation robot under water;
Pose: pose is divided into position and attitude is to describe the position of robot in space and the attitude of himself;
Eulerian angle: determine 3 one group independence angle parameter of Fixed-point Motion of A rigid body position, have respectively crab angle ψ, pitching angle theta, roll angle Φ.
Technical solution of the present invention is:
A underwater robot posture control method,
The design of employing balanced structure, carries out modeling to symmetrical framed structure,
Sensor records the angle of pitch, roll angle, the crab angle of robot pose;
Do difference with expectation value and obtain error, by pid algorithm, error is regulated, motor is controlled, make attitude keep balance.
Further, balanced structure attach most importance under mind-set, symmetrical self-stabilization framed structure.
Further, balanced structure is specially: adopt quadra structure, being arranged on framework of eight motor symmetries, forms symmetrical structure, and eight motors are divided into two parts,
Wherein, four motors are respectively on vertical four upright poles that are arranged on framework, by rising and the decline of rotating control; Other four motors are arranged on the bottom of framework, the forward-reverse of control.
Further, sensing system comprises MPU6050 three-axis gyroscope, accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitter; MPU6050 three-axis gyroscope, accelerometer record robot at x, y, and the angle of rotating on z axle and acceleration, through converting hypercomplex number to; AK8975 electronic compass records the magnetic declination of robot direction; HSTL-18 fluid level transmitter is measured the degree of depth in robot place water.
Further, copy quadrotor to carry out mathematical modeling to underwater robot; Sensor MPU6050 three-axis gyroscope and accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitter is measured respectively the hypercomplex number of robot pose, crab angle and the degree of depth; Utilize pid algorithm to regulating error, output quantity is controlled motor, makes the station keeping of robot steady.
Further, realize the control of underwater robot attitude:
First carry out mathematical modeling, the method that adopts two kinds of instruments of Eulerian angle and hypercomplex number to combine is described the underwater attitude of robot, first with sensor, measure the hypercomplex number (w of robot pose, x, y, z), then convert hypercomplex number to Eulerian angle and obtain crab angle (ψ), the angle of pitch (θ), roll angle (Φ); The Electric Machine Control angle of pitch, the roll angle of vertically placing, when the attitude of robot is not level, the angle of pitch and roll angle are not just zero, the angle of pitch of input and roll angle are exactly error;
Then by pid algorithm, control the motor of four vertical directions, the angle of pitch and roll angle are adjusted into zero.
Further, utilize following formula (1) to convert hypercomplex number to Eulerian angle and obtain crab angle (ψ), the angle of pitch (θ), roll angle (Φ),
Further, when robot departs from the task depth of water, the degree of depth that fluid level transmitter is surveyed is compared and is obtained error with the original degree of depth, then utilizes pid algorithm, makes robot remain on the task depth of water.
Further, when robot departs from ideal line, the numerical value of electronic compass changes, and the error of direction that Here it is, utilizes pid algorithm, and error is corrected, and guarantees that robot motion keeps ideal line state.
The invention has the beneficial effects as follows: this kind of underwater robot posture control method, can make robot there is under water the attitude stability that can resist environmental perturbation, guarantee that robot completes smoothly careful, complicated work.Can realize operator and according to mission requirements, set the degree of depth of robot, allow flexibly robot rest on the various degree of depth and finish the work, operate hommization more.And it is incomplete same to overcome motor intrinsic parameters, reduce operator's burden, arrival mission area that can also be more accurate.
Accompanying drawing explanation
Fig. 1 is the structural representation of underwater robot in the embodiment of the present invention;
Fig. 2 is robot motion schematic diagram;
In each direction view of Fig. 2, above a row be respectively from left to right No. 1 motor, No. 2 motors, below a row be respectively from left to right No. 3 motors, No. 4 motors.
Embodiment
Below in conjunction with accompanying drawing, describe the preferred embodiments of the present invention in detail.
Embodiment provides a kind of control system of controlling underwater robot pose, so that balanced structure is controlled to the mode combining with algorithm, guarantees the steady of robot pose.
Balanced structure is exactly that center of gravity is downward, the self-stabilization framed structure of profile symmetry.
It is exactly to copy quadrotor modeling that algorithm is controlled, the method for utilizing pid algorithm to adjust.
In order to meet the balanced design of robot, balanced structure design and algorithm design are again its complementary two aspects.Meet the basic demand of robot self Attitude Algorithm, designing good physical construction is the fine basic guarantee completing of Attitude Algorithm
Design of Mechanical Structure:
Robot adopts the framed structure of box type, as shown in Figure 1, leaves a large amount of spaces like this and can allow water flow through in the middle of robot, reduces the resistance of water, convenient control.Adopt center of gravity in the structure of lower self-stabilization, heavier motor is contained in to robot bottom, lighter parts such as cursory grade are arranged on the top of robot.This structure is similar to tumbler, even if top is subject to the impact of current, also can keep more stable state.
The operating principle of robot:
The motion control of robot needs eight motors altogether, and wherein, four are erected at respectively on vertical frame, the floating of control and dive.When motor forward, the power that robot is risen, robot floating.When motor reversal, robot is subject to downward power, robot dive.
Other four motor racks are in the bottom of framework, and the direction of control, advances, and retreats and spins.As shown in Figure 2, when 1, No. 2 electric machine rotation, robot advances.When 3, No. 4 electric machine rotations, robot retreats.When 1, No. 3 electric machine rotation, robot moves right.When 2, No. 4 electric machine rotations, robot is to left movement.When Isosorbide-5-Nitrae electric machine rotation, robot spins clockwise.When 2, No. 3 electric machine rotations, the spin of robot inverse hour hands.
The formation of sensing system:
In order to realize the control of robot pose, must to the pose of robot, measure with sensor.MPU6050 three-axis gyroscope and accelerometer have been selected altogether, AK8975 electronic compass, HSTL-18 fluid level transmitter.MPU6050 controls for robot pose, records robot at x, y, and the angle of rotating on z axle and acceleration, through conversion, convert hypercomplex number to.AK8975 electronic compass records the magnetic declination of robot direction, conveniently the direction of robot is controlled.HSTL-18 fluid level transmitter is measured the degree of depth in robot place water, is convenient to the robot degree of depth of living in to control.
The attitude of robot is controlled:
The hovering of quadrotor and accurately orientating as provides the thinking of difficult point that solves underwater robot, through the structure analysis of air-robot being found to the structure of air-robot full symmetric is beneficial to, realizes VTOL (vertical take off and landing) and accurate attitude adjustment.In order to realize, Shui Zhong robot hovers in water and attitude is controlled, and first will carry out mathematical modeling.
In order to describe the underwater attitude of robot, select two kinds of mathematical tools, one is Eulerian angle, another is hypercomplex number.Because MPU6050 gyroscope survey hypercomplex number is more convenient, and Eulerian angle are convenient to control, so adopt two kinds of methods that instrument combines.First with sensor, measure the hypercomplex number (w, x, y, z) of robot pose, recycling formula (1) converts hypercomplex number to Eulerian angle and obtains crab angle (ψ), the angle of pitch (θ), roll angle (Φ).The direction of robot is four Electric Machine Control of being placed by lower horizontal, and crab angle does not just need four vertical Electric Machine Control so.The motor of vertically placing only need be controlled the angle of pitch, roll angle.When the attitude of robot is not level, the angle of pitch and roll angle are not just zero, and the angle of pitch of input and roll angle are exactly error.Then by pid algorithm, control the motor of four vertical directions, the angle of pitch and roll angle are adjusted into zero.
The realization of robot pose:
The stable of robot pose is all will keep in robot operational process.But attitude is steadily a part for Pose Control, keeps in addition the degree of depth of robot in water and the stable operation of direction.
Some task needs robot to hover in water to work, at this moment will control the degree of depth of robot.When robot arrives the task depth of water, operator presses the button the current degree of depth is carried out to record.When robot departs from this degree of depth, the degree of depth that fluid level transmitter is surveyed is compared and is obtained error with the original degree of depth, then utilizes pid algorithm, makes robot remain on this degree of depth.
Because the intrinsic parameters of motor is incomplete same, when advancing, robot may not be rectilinear motion, but curvilinear motion departs from desirable straight line.When operator's control advances, robot electronic compass is recorded now it over against direction.When robot departs from ideal line, the numerical value of electronic compass changes, the error of direction that Here it is.Utilize pid algorithm, error is corrected, guarantee that robot motion keeps perfect condition.
The structure similar from quadrotor takes out model, utilizes pid algorithm to control the attitude of robot.Thereby it is steady to realize the attitude of robot in water.Zhe Dui robot completes task under water and plays vital effect.
Some task needs robot to hover in water to work, at this moment will control the degree of depth of robot.Embodiment allows operator according to mission requirements, set the degree of depth of robot.Can allow flexibly like this robot rest on the various degree of depth and finish the work, operate hommization more.
Because the intrinsic parameters of motor is incomplete same, when advancing, robot may not be rectilinear motion, but curvilinear motion departs from desirable straight line.May make like this robot cannot accurately arrive mission area, or need the artificial direction of adjusting, increase operator's burden.It is incomplete same that embodiment can overcome motor intrinsic parameters, reduces operator's burden, arrival mission area that can also be more accurate.
Claims (9)
1. a underwater robot posture control method, is characterized in that:
The design of employing balanced structure, carries out modeling to symmetrical framed structure,
Sensor records the angle of pitch, roll angle, the crab angle of robot pose;
Do difference with expectation value and obtain error, by pid algorithm, error is regulated, motor is controlled, make attitude keep balance.
2. underwater robot posture control method as claimed in claim 1, is characterized in that: balanced structure is attached most importance under mind-set, the self-stabilization framed structure of symmetry.
3. underwater robot posture control method as claimed in claim 2, is characterized in that, balanced structure is specially: adopt quadra structure, being arranged on framework of eight motor symmetries, forms symmetrical structure, and eight motors are divided into two parts,
Wherein, four motors are respectively on vertical four upright poles that are arranged on framework, by rising and the decline of rotating control; Other four motors are arranged on the bottom of framework, the forward-reverse of control.
4. underwater robot posture control method as claimed in claim 3, is characterized in that: sensing system comprises MPU6050 three-axis gyroscope, accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitter; MPU6050 three-axis gyroscope, accelerometer record robot at x, y, and the angle of rotating on z axle and acceleration, through converting hypercomplex number to; AK8975 electronic compass records the magnetic declination of robot direction; HSTL-18 fluid level transmitter is measured the degree of depth in robot place water.
5. underwater robot posture control method as claimed in claim 4, is characterized in that:
Copy quadrotor to carry out mathematical modeling to underwater robot; Sensor MPU6050 three-axis gyroscope and accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitter is measured respectively the hypercomplex number of robot pose, crab angle and the degree of depth; Utilize pid algorithm to regulating error, output quantity is controlled motor, makes the station keeping of robot steady.
6. the underwater robot posture control method as described in claim 1-5 any one, is characterized in that, realizes the control of underwater robot attitude:
First carry out mathematical modeling, the method that adopts two kinds of instruments of Eulerian angle and hypercomplex number to combine is described the underwater attitude of robot, first with sensor, measure the hypercomplex number (w of robot pose, x, y, z), then convert hypercomplex number to Eulerian angle and obtain crab angle (ψ), the angle of pitch (θ), roll angle (Φ); The Electric Machine Control angle of pitch, the roll angle of vertically placing, when the attitude of robot is not level, the angle of pitch and roll angle are not just zero, the angle of pitch of input and roll angle are exactly error;
Then by pid algorithm, control the motor of four vertical directions, the angle of pitch and roll angle are adjusted into zero.
7. underwater robot posture control method as claimed in claim 6, is characterized in that, utilize following formula (1) to convert hypercomplex number to Eulerian angle and obtain crab angle (ψ), and the angle of pitch (θ), roll angle (Φ),
8. underwater robot posture control method as claimed in claim 7, it is characterized in that, when robot departs from the task depth of water, the degree of depth that fluid level transmitter is surveyed is compared and is obtained error with the original degree of depth, then utilize pid algorithm, make robot remain on the task depth of water.
9. underwater robot posture control method as claimed in claim 8, is characterized in that, when robot departs from ideal line; the numerical value of electronic compass changes, and the error of direction that Here it is, utilizes pid algorithm; error is corrected, guarantee that robot motion keeps ideal line state.
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| CN105239803A (en) * | 2015-11-02 | 2016-01-13 | 南京工程学院 | Underwater cleaning rotor with cable torsion detection device |
| CN105619394A (en) * | 2016-02-29 | 2016-06-01 | 青岛海山海洋装备有限公司 | ROV attitude control method based on error quaternion feedback |
| CN105676867A (en) * | 2016-04-21 | 2016-06-15 | 南京工程学院 | ROV underwater robot suspension attitude stabilization control method |
| CN105929841A (en) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | ROV attitude control method and system |
| CN106272559A (en) * | 2016-10-08 | 2017-01-04 | 海牧人（北京）科技有限公司 | The method of underwater robot location wall, device and robot |
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| CN107145155A (en) * | 2017-07-06 | 2017-09-08 | 深圳潜行创新科技有限公司 | It is a kind of from steady system and underwater vehicle |
| CN107688297A (en) * | 2017-09-08 | 2018-02-13 | 河海大学 | A kind of profiling motion control method of sliding cable underwater robot |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN108563234A (en) * | 2018-05-09 | 2018-09-21 | 深圳市吉影科技有限公司 | A kind of underwater unmanned plane self-balancing control method and system |
| CN108769531A (en) * | 2018-06-21 | 2018-11-06 | 深圳市道通智能航空技术有限公司 | Control method, control device and the wearable device of the shooting angle of filming apparatus |
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| CN113602462A (en) * | 2021-10-08 | 2021-11-05 | 南京工程学院 | Underwater robot and attitude and motion control method thereof under high-visibility condition in water |
| CN113867132A (en) * | 2021-10-12 | 2021-12-31 | 浙江大学 | Circular-disc underwater robot posture stabilizing and adjusting system and control method |
| CN114063436A (en) * | 2021-10-09 | 2022-02-18 | 广州大学 | Anti-interference control method, system, equipment and medium for water-surface robot |
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| CN106344314A (en) * | 2015-07-13 | 2017-01-25 | 松下知识产权经营株式会社 | Robot system, holding mechanism, control method of robot system |
| CN105239803A (en) * | 2015-11-02 | 2016-01-13 | 南京工程学院 | Underwater cleaning rotor with cable torsion detection device |
| CN105619394A (en) * | 2016-02-29 | 2016-06-01 | 青岛海山海洋装备有限公司 | ROV attitude control method based on error quaternion feedback |
| CN105676867B (en) * | 2016-04-21 | 2019-02-22 | 南京工程学院 | A kind of ROV underwater robot suspension pose stabilization control method |
| CN105676867A (en) * | 2016-04-21 | 2016-06-15 | 南京工程学院 | ROV underwater robot suspension attitude stabilization control method |
| CN105929841A (en) * | 2016-06-29 | 2016-09-07 | 天津深之蓝海洋设备科技有限公司 | ROV attitude control method and system |
| CN106272559A (en) * | 2016-10-08 | 2017-01-04 | 海牧人（北京）科技有限公司 | The method of underwater robot location wall, device and robot |
| CN107145155A (en) * | 2017-07-06 | 2017-09-08 | 深圳潜行创新科技有限公司 | It is a kind of from steady system and underwater vehicle |
| CN107688297A (en) * | 2017-09-08 | 2018-02-13 | 河海大学 | A kind of profiling motion control method of sliding cable underwater robot |
| CN108319276A (en) * | 2017-12-26 | 2018-07-24 | 上海交通大学 | Underwater robot attitude regulation control device and method based on Boolean network |
| CN108563234A (en) * | 2018-05-09 | 2018-09-21 | 深圳市吉影科技有限公司 | A kind of underwater unmanned plane self-balancing control method and system |
| WO2019214173A1 (en) * | 2018-05-09 | 2019-11-14 | 深圳市吉影科技有限公司 | Self-balancing control method and system for underwater unmanned aerial vehicle |
| CN108769531A (en) * | 2018-06-21 | 2018-11-06 | 深圳市道通智能航空技术有限公司 | Control method, control device and the wearable device of the shooting angle of filming apparatus |
| CN112833854A (en) * | 2020-12-31 | 2021-05-25 | 天津大学 | Pose measurement system of planar mobile robot |
| CN113602462A (en) * | 2021-10-08 | 2021-11-05 | 南京工程学院 | Underwater robot and attitude and motion control method thereof under high-visibility condition in water |
| CN114063436A (en) * | 2021-10-09 | 2022-02-18 | 广州大学 | Anti-interference control method, system, equipment and medium for water-surface robot |
| CN114063436B (en) * | 2021-10-09 | 2023-09-26 | 广州大学 | Anti-interference control method, system, equipment and medium for water surface robot |
| CN113867132A (en) * | 2021-10-12 | 2021-12-31 | 浙江大学 | Circular-disc underwater robot posture stabilizing and adjusting system and control method |
| CN113867132B (en) * | 2021-10-12 | 2024-02-27 | 浙江大学 | System for stabilizing and adjusting posture of circular disc-shaped underwater robot and control method |
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| CN104155991B (en) | 2017-11-07 |
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