CN104155991B - underwater robot posture control method - Google Patents
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- CN104155991B CN104155991B CN201410422945.2A CN201410422945A CN104155991B CN 104155991 B CN104155991 B CN 104155991B CN 201410422945 A CN201410422945 A CN 201410422945A CN 104155991 B CN104155991 B CN 104155991B
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Abstract
The present invention provides a kind of underwater robot posture control method, is designed using balanced structure, symmetrical frame structure is modeled, and sensor measures the angle of pitch of robot pose, roll angle, yaw angle；Made the difference with desired value and be worth to error, error is adjusted by pid algorithm, motor is controlled, posture is kept balance；This kind of underwater robot posture control method, robot can be made, which to have under water, can resist the attitude stability of environmental perturbation, it is ensured that it is careful that robot is smoothly completed, complicated work.
Description
Technical field
The present invention relates to a kind of underwater robot posture control method.
Background technology
In recent years, the problem of research of underwater robot is increasingly becoming new forward position and focus in navigation research.Under water
Application prospect of the robot in deep-sea is more broad also with seabed mine locating, the development of submarine cable maintenance, while to water
The requirement of lower robot mobility and maneuverability also more and more higher, under water during robot execution task, is not only required
It can be moved under environmental perturbation according to predetermined track, and be needed in many cases using underwater robot to target
Thing carries out finer observation and operation, and this is accomplished by underwater robot and keeps constant relative to the position of object, that is, requires
Underwater robot, which has, can resist the higher attitude stability of environmental perturbation, so could smoothly complete careful, complexity
Work.
But at present, many underwater robots are under water in terms of posture adjust automatically without putting into too big energy, machine
People's fixed point suspends, and the ability for resisting flow-disturbing is weaker.The task that robot is completed under water is limited.
The content of the invention
It is an object of the invention to provide a kind of underwater robot posture control method, appearance of the robot in water can be realized
State is steady, solves the fixed point of robot present in prior art and suspends, the ability for resisting flow-disturbing is weaker, and robot is completed under water
Task it is limited the problem of.
Underwater robot, also known as unmanned submersible are a kind of operations in limit operation robot under water；
Pose：Pose is divided into position and posture, is to describe the position of robot in space and the posture of its own；
Eulerian angles：3 one group of independence angle parameters of Fixed-point Motion of A rigid body position are determined, there is yaw angle ψ respectively, pitching angle theta,
Roll angle Φ.
The present invention technical solution be：
A kind of underwater robot posture control method,
Designed using balanced structure, symmetrical frame structure be modeled,
Sensor measures the angle of pitch of robot pose, roll angle, yaw angle；
Made the difference with desired value and be worth to error, error is adjusted by pid algorithm, motor is controlled, make appearance
State keeps balance.
Further, balanced structure is that center of gravity is downward, symmetrical self-stabilization frame structure.
Further, balanced structure is specially：Using quadra structure, eight motors are symmetrically installed on framework,
Symmetrical structure is formed, eight motors are divided into two parts,
Wherein, four motors are distinguished on vertical four upright poles installed in framework, pass through rotating control machine
The raising and lowering of device people；Four additional motor is arranged on the bottom of framework, the forward-reverse of control machine people.
Further, sensing system include MPU6050 three-axis gyroscopes, accelerometer, AK8975 electronic compass,
HSTL-18 fluid level transmitters；MPU6050 three-axis gyroscopes, accelerometer measure robot in x, y, the angle rotated in z-axis with
And acceleration, by being converted into quaternary number；AK8975 electronic compass measures the magnetic declination in robot direction；HSTL-18 liquid levels become
Device is sent to measure the depth in robot place water.
Further, quadrotor is copied to carry out mathematical modeling to underwater robot；The axle tops of sensor MPU6050 tri-
Spiral shell instrument and accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitters measure the quaternary number of robot pose respectively, partially
Boat angle and depth；Using pid algorithm to regulating error, output quantity controlled motor makes the pose held stationary of robot.
Further, the control of underwater robot posture is realized：
Mathematical modeling is carried out first, and robot is described in water with the method that two kinds of instruments of quaternary number are combined using Eulerian angles
Under posture, first with the quaternary number (w, x, y, z) of sensor mensuration machine people's posture, then quaternary number be converted into Eulerian angles obtained
Yaw angle ψ, pitching angle theta, roll angle Φ；The motor control angle of pitch placed vertically, roll angle, when the posture of robot is not water
Usually, the angle of pitch and roll angle are not just zero, and the angle of pitch and roll angle of input are exactly error；
Then the motor of four vertical directions is controlled by pid algorithm, the angle of pitch and roll angle are adjusted to zero.
Further, quaternary number is converted into Eulerian angles using equation below (1) and obtains yaw angle (ψ), the angle of pitch (θ),
Roll angle (Φ),
Further, when robot deviates the task depth of water, the depth that fluid level transmitter is surveyed is compared with original depth
Error is relatively obtained, then using pid algorithm, robot is maintained at the task depth of water.
Further, when robot deviates ideal line, the numerical value of electronic compass changes, here it is the mistake in direction
Difference, using pid algorithm, is corrected to error, it is ensured that robot motion keeps ideal line state.
The beneficial effects of the invention are as follows：This kind of underwater robot posture control method, can be such that robot has under water
The attitude stability of environmental perturbation can be resisted, it is ensured that it is careful that robot is smoothly completed, complicated work.Operator can be realized
The depth of robot is set according to mission requirements, flexibly allows robot to rest on various depth and completes task, operation more people
Property.And motor intrinsic parameters can be overcome incomplete same, reduce the burden of operator, additionally it is possible to which more accurate arrival is appointed
Be engaged in area.
Brief description of the drawings
Fig. 1 is the structural representation of underwater robot in the embodiment of the present invention；
Fig. 2 is robot motion schematic diagram；
In Fig. 2 each direction view, above a row from left to right be respectively No. 1 motor, No. 2 motors, below a row by
Left-to-right is respectively No. 3 motors, No. 4 motors.
Embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment provides a kind of control system of control underwater robot pose, and balanced structure and algorithm control are mutually tied
The mode of conjunction, it is ensured that robot pose it is steady.
Balanced structure is exactly that center of gravity is downward, the self-stabilization frame structure of symmetrical shape.
Algorithm control is exactly to copy quadrotor to model, the method adjusted using pid algorithm.
In order to meet the balanced design of robot, balanced structure design and algorithm design are again its complementary two sides
Face.The basic demand of robot itself Attitude Algorithm is met, it is that Attitude Algorithm is completed very well to design good mechanical structure
Basic guarantee
Design of Mechanical Structure：
Robot uses the frame structure of box type, can be with as shown in figure 1, so leaving substantial amounts of space in the middle of robot
Allow water to flow through, reduce the resistance of water, convenient control.Using center of gravity in the structure of lower self-stabilization, heavier motor is mounted in machine
People bottom, the lighter part of cursory grade is arranged on the top of robot.This structure is similar to tumbler, even if top is by water
The influence of stream, can also keep more stable state.
The operating principle of robot：
The motion control of robot needs eight motors altogether, wherein, four are respectively erected on vertical frame, control machine
The floating of people and dive.When motor is rotated forward, the power that robot is risen, robot floats.When motor reversal, robot by
Downward power, robot dive.
Four additional motor rack advances in the bottom of framework, the direction of control machine people, retreats and spins.Such as Fig. 2 institutes
Show, No. 1 motor, which is located on the upper left corner of base of frame, motor output shaft, is provided with propeller, the court of No. 1 motor helical oar
To for 45 degree of lower left, No. 2 motors are located at the upper right corner of base of frame, and No. 2 motor helical oars are oriented lower right 45
Degree, No. 3 motors are located at the lower left corner of base of frame, and No. 3 motor helical oars are oriented 45 degree of upper left side, No. 4 motors positions
In the lower right corner of base of frame, No. 4 motor helical oars are oriented 45 degree of upper right side, provide reverse when propeller is opened
Thrust, when 1, No. 2 motor is rotated, robot advances.When 3, No. 4 motors are rotated, robot is retreated.When No. 1,3 motors turn
When dynamic, robot is moved right.When 2, No. 4 motors are rotated, robot is to left movement.When Isosorbide-5-Nitrae motor is rotated, robot
Clockwise spin.When 2, No. 3 motors are rotated, robot counterclockwise spin.
The composition of sensing system：
In order to realize the control of robot pose, it is necessary to the pose of robot is measured with sensor.Select altogether
MPU6050 three-axis gyroscopes and accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitters.MPU6050 is for machine
Device people's gesture stability, measures robot in x, y, the angle and acceleration rotated in z-axis, by conversion, is converted into quaternary number.
AK8975 electronic compass measures the magnetic declination in robot direction, and the convenient direction to robot is controlled.HSTL-18 liquid levels become
Send device to measure the depth in robot place water, be easy to be controlled depth residing for robot.
The gesture stability of robot：
The hovering of quadrotor and be accurately positioned for there is provided solve underwater robot one thinking of difficult point,
Find that the full symmetric structure of air-robot is beneficial to realize vertical lift and accurate by the structural analysis to air-robot
Pose adjustment.In order to realize that Shui Zhong robots hover and gesture stability in water, first have to carry out mathematical modeling.
In order to describe the underwater posture of robot, from two kinds of mathematical tools, one is Eulerian angles, and another is quaternary
Number.Because MPU6050 gyroscopes measurement quaternary number is more convenient, and Eulerian angles are easy to control, so mutually being tied using two kinds of instruments
The method of conjunction.The quaternary number (w, x, y, z) of sensor mensuration machine people's posture is first used, recycles formula (1) to change quaternary number
Yaw angle ψ, pitching angle theta, roll angle Φ are obtained into Eulerian angles.The direction of robot is the four motor controls placed by lower horizontal
System, then yaw angle avoids the need for four vertical motor controls.The motor placed vertically need to only control the angle of pitch, roll angle.
When the posture of robot is not level, the angle of pitch and roll angle are not just zero, and the angle of pitch and roll angle of input are exactly error.
Then the motor of four vertical directions is controlled by pid algorithm, the angle of pitch and roll angle are adjusted to zero.
The realization of robot pose：
The stabilization of robot pose will be kept in robot running.But posture is steadily Pose Control
A part, also keep the stable operation of depth and direction of the robot in water.
Some tasks need robot to hover in water to work, at this moment will be controlled the depth of robot.Work as machine
When device people reaches the task depth of water, operator presses button and current depth is recorded.When robot deviates this depth, liquid
The depth that position transmitter is surveyed obtains error compared with original depth, then using pid algorithm, robot is maintained at this
One depth.
Because the intrinsic parameters of motor are incomplete same, when advancing, robot may not be linear motion, but curve
Motion, deviates preferable straight line.When operator's control machine people advances, robot electronic compass records now its positive other side
To.When robot deviates ideal line, the numerical value of electronic compass changes, here it is the error in direction.Calculated using PID
Method, is corrected to error, it is ensured that robot motion keeps perfect condition.
Go out model from the similar Structural abstraction of quadrotor, the posture of robot is controlled using pid algorithm.
So as to realize that posture of the robot in water is steady.This completes subsea tasks to robot and plays vital effect.
Some tasks need robot to hover in water to work, at this moment will be controlled the depth of robot.Implement
Example allows operator according to the depth of mission requirements setting robot.Robot so can be flexibly allowed to rest on various depth complete
Into task, more hommization is operated.
Because the intrinsic parameters of motor are incomplete same, when advancing, robot may not be linear motion, but curve
Motion, deviates preferable straight line.So robot may be made not to be accurate to up to mission area, or need to manually adjust direction,
Increase the burden of operator.Embodiment can overcome motor intrinsic parameters incomplete same, reduce the burden of operator, moreover it is possible to compare
It is more accurate to reach mission area.
Claims (6)
1. a kind of underwater robot posture control method, it is characterised in that：
Designed using balanced structure, symmetrical frame structure is modeled, balanced structure is that center of gravity is downward, symmetrical self-stabilization
Frame structure, balanced structure is specially：Using quadra structure, eight motors are symmetrically installed on framework, form symmetrical
Structure, eight motors are divided into two parts,
Wherein, four motors are distinguished on vertical four upright poles installed in framework, pass through rotating control machine people
Raising and lowering；Four additional motor is arranged on the bottom of framework, the forward-reverse of control machine people；No. 1 motor is located at frame
It is provided with propeller on the upper left corner of frame bottom, motor output shaft, No. 1 motor helical oar is oriented 45 degree of lower left, 2
Number motor is located at the upper right corner of base of frame, and No. 2 motor helical oars are oriented 45 degree of lower right, and No. 3 motors are located at frame
The lower left corner of frame bottom, No. 3 motor helical oars are oriented 45 degree of upper left side, and No. 4 motors are located at the bottom right of base of frame
Angle, No. 4 motor helical oars are oriented 45 degree of upper right side, and propeller provides reverse thrust when opening, when 1, No. 2 motor
During rotation, robot advances, and when 3, No. 4 motors are rotated, robot is retreated, and when 1, No. 3 motor is rotated, robot is transported to the right
Dynamic, when 2, No. 4 motors are rotated, robot is to left movement, when Isosorbide-5-Nitrae motor is rotated, robot clockwise spin, when 2,3
When number motor is rotated, robot counterclockwise spin；
Sensor measures the angle of pitch of robot pose, roll angle, yaw angle；Sensing system includes MPU6050 three axis accelerometers
Instrument, accelerometer, AK8975 electronic compass, HSTL-18 fluid level transmitters；MPU6050 three-axis gyroscopes, accelerometer measure machine
Device people is in x, y, the angle and acceleration rotated in z-axis, by being converted into quaternary number；AK8975 electronic compass measures robot
The magnetic declination in direction；Depth in water where HSTL-18 fluid level transmitters measure robot；
Made the difference with desired value and be worth to error, error is adjusted by pid algorithm, motor is controlled, protect posture
Maintain an equal level weighing apparatus.
2. underwater robot posture control method as claimed in claim 1, it is characterised in that：Quadrotor is copied to water
Lower robot carries out mathematical modeling；Sensor MPU6050 three-axis gyroscopes and accelerometer, AK8975 electronic compass, HSTL-18
Fluid level transmitter measures the quaternary number of robot pose, yaw angle and depth respectively；Using pid algorithm to regulating error, output
Controlled motor is measured, makes the pose held stationary of robot.
3. underwater robot posture control method as claimed in claim 1 or 2, it is characterised in that realize underwater robot appearance
The control of state：
Mathematical modeling is carried out first, and it is underwater with the method that two kinds of instruments of quaternary number are combined to describe robot using Eulerian angles
Posture, first with the quaternary number (w, x, y, z) of sensor mensuration machine people's posture, then is converted into Eulerian angles by quaternary number and is gone off course
Angle ψ, pitching angle theta, roll angle Φ；The motor control angle of pitch placed vertically, roll angle, when the posture of robot is not level
When, the angle of pitch and roll angle are not just zero, and the angle of pitch and roll angle of input are exactly error；
Then the motor of four vertical directions is controlled by pid algorithm, the angle of pitch and roll angle are adjusted to zero.
4. underwater robot posture control method as claimed in claim 3, it is characterised in that utilize equation below (1) by four
First number is converted into Eulerian angles and obtains yaw angle ψ, pitching angle theta, roll angle Φ,
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1
5. underwater robot posture control method as claimed in claim 4, it is characterised in that when robot deviates the task depth of water
When, the depth that fluid level transmitter is surveyed obtains error compared with original depth, then using pid algorithm, protects robot
Hold in the task depth of water.
6. underwater robot posture control method as claimed in claim 5, it is characterised in that when robot deviates ideal line
When, the numerical value of electronic compass changes, here it is the error in direction, using pid algorithm, is corrected, it is ensured that machine to error
Device people motion keeps ideal line state.
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| CN104155991B true CN104155991B (en) | 2017-11-07 |
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| CN104155991A (en) | 2014-11-19 |
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