CN105319987A - Working ROV training simulator motion control simulation system - Google Patents

Working ROV training simulator motion control simulation system Download PDF

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CN105319987A
CN105319987A CN201510756848.1A CN201510756848A CN105319987A CN 105319987 A CN105319987 A CN 105319987A CN 201510756848 A CN201510756848 A CN 201510756848A CN 105319987 A CN105319987 A CN 105319987A
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module
thrust
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degree
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CN105319987B (en
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李新飞
袁利毫
韩端锋
祝海涛
姜迈
宋磊
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Harbin Engineering University
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Harbin Engineering University
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

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Abstract

The invention discloses a working ROV (Remotely Operated Vehicle) training simulator motion control simulation system, comprising an ROV body hydrodynamic system model, a seabed flow field disturbance speed model, a manipulator working disturbing force and moment model, an umbilical disturbing force and moment model, an ROV six-degree-of-freedom PID controller module, an overdriven thrust distribution module, a hydraulic airscrew propeller simulation control module, an eight-propeller thrust and moment model for thrust synthesizing six degrees of freedom, a six-degree-of-freedom thrust and moment and external disturbing force and moment synthesis module, an ROV automatic control function module and a four-degree-of-freedom ROV operation handle module. The system has the characteristics of simple structures and clear levels, and can truly describe the internal control system structure of a working ROV, accurately stimulate the real underwater motion control function and process of the working ROV, and realistically output motion and control parameter change processes of the working ROV.

Description

A kind of motion control analogue system of operation type ROV training simulators
Technical field
The invention belongs to unmanned underwater robot movement control technology field, particularly relate to for operation type remote underwater robot (ROV-RemotelyOperatedVehicle) of overdriving, a kind of motion control analogue system of operation type ROV training simulators.
Background technology
The maximum feature of operation type ROV is in dangerous deep-marine-environment, to complete high strength, large load and high precision operation, and it is that China implements one of indispensable major technologies and equipment of deep-ocean resource exploitation strategy.Exploitation ROV Simulator, can carry out on-the-job training to operating personnel, and preview underwater operation, improve operating efficiency and security, have important construction value in virtual environment.
ROV six-freedom motion control system is one of gordian technique of development operation type ROV Simulator.The design difficulty of operation type ROV simulation training ware control system mainly comprises following five aspects: (1) general underwater robot only needs control three (forward/backward, pitching, turn bow) or four (forward/backward, pitching, liter/sink, turn bow) degree of freedom motion, and operation type ROV needs to control six-freedom degree motion simultaneously.(2) there is larger Non-linear coupling characteristic in operation type ROV hydrodynamic model.(3) operation type ROV working environment also exists multiple more complicated unknown disturbances, as the uncertain perturbed force, mechanical arm operation perturbed force etc. of the interference of flow field, seabed, long umbilical cables.(4) operation type ROV normally overdrives type, and namely the number of institute's installation propeller is greater than its number of degrees of freedom, that will control.The ROV that the present invention studies installs eight hydraulic pushers (wherein four vertical pusher, four horizontal propellers), and become vector layout pattern, realize ROV six-freedom motion control needs eight thrusters and work simultaneously, this belongs to thrust assignment problem of typically overdriving.(5) thruster of operation type ROV belongs to hydrostatic control screw propeller, and the execution of steering order exists larger hysteresis characteristic, how to realize the real Time Dynamic Simulation of ROV under the effect of hydraulic pusher and controls to there is certain difficulty.At present, because Technical comparing is responsive, domestic and international open source information seldom has the open data of literatures about operation type ROV motion control Design of Simulation System.
Summary of the invention
The object of this invention is to provide a kind of structure simple, easy to use, the motion control analogue system of operation type ROV training simulators.
A kind of motion control analogue system of operation type ROV training simulators, comprise ROV body hydrodynamics system model, flow field, seabed disturbance velocity model, mechanical arm operation perturbed force and moment model, umbilical cables perturbed force and moment model, ROV six degree of freedom PID controller module, thrust of overdriving distribution module, hydraulic screw oar thruster Simulation Control module, what 8 propeller thrusts synthesized 6 degree of freedom pushes away wind tunnel module, 6 degree of freedom push away wind tunnel and external disturbance wind tunnel synthesis module, ROV automatic control function module and four-degree-of-freedom ROV control crank module,
ROV body hydrodynamics system model receives the disturbance velocity that flow field, seabed disturbance velocity model exports, and exports six-freedom motion state, comprises displacement, angle, speed, angular velocity, acceleration and angular acceleration information;
ROV six degree of freedom PID controller module Real-time Collection six-freedom motion state, and receive the steering order of ROV automatic control function module and the output of four-degree-of-freedom ROV control crank module, through the control of the PID controller of six direction, the expectation thrust of real-time output six degree of freedom and moment of thrust are to thrust distribution module of overdriving;
Thrust of overdriving distribution module, according to the information received, adopts thrust to distribute Pseudoinverse algorithm, exports the expectation thrust of four horizontal propellers and four vertical pusher in real time to hydraulic pressure screw propeller Simulation Control module;
Hydraulic screw oar thruster Simulation Control module, according to the information received, exports eight angle of rake actual thrusts and rotating speed,
What thruster actual thrust and rotating speed are input to 8 propeller thrusts synthesize 6 degree of freedom pushes away wind tunnel module, obtains actual thrust and the moment of thrust of six-freedom degree, sends thrust/moment and the external disturbance wind tunnel synthesis module of 6 degree of freedom to;
Push away wind tunnel and the external disturbance wind tunnel synthesis module of 6 degree of freedom also receive umbilical cables perturbed force and mechanical arm operation perturbed force that umbilical cables perturbed force and moment model export and the mechanical arm operation perturbed force that moment model exports, the actual thrust of reception and moment of thrust and umbilical cables perturbed force and mechanical arm operation perturbed force are carried out composite calulation, obtains being applied to thrust on ROV body and moment of thrust sends ROV body hydrodynamics system model to.
The motion control analogue system of a kind of operation type ROV of the present invention training simulators, also comprises:
1, four-degree-of-freedom ROV control crank module exports steering order is the motion of ROV tetra-degree of freedom, comprises advancing or retreating, move to left or move to right, float or sinks and left or right turns bow and moves; The steering order that ROV automatic control function module exports is the elevation that automatically goes as course, automatically keeps, automatically keeps the degree of depth and dynamically positioning function;
ROV six degree of freedom PID controller module also comprises logic judgment module, logic judgment module pre-sets priority according to the steering order of ROV automatic control function module and four-degree-of-freedom ROV control crank module, and the PID controller of six direction carries out control response according to the steering order of current reception and the priority pre-set.
2, hydraulic screw oar thruster Simulation Control module comprises amplifier, hydraulic motor displacement module, screw propeller kinetics equation module, the expectation thrust of amplifier accepts four horizontal propellers and four vertical pusher, convert the oil motor two ends oil liquid pressure of expectation to, export to hydraulic motor displacement module, the moment of torsion being converted into oil motor exports to screw propeller kinetics equation module, exports eight angle of rake actual thrusts and rotating speed.
Beneficial effect:
The present invention is on the basis of known operation type ROV Hydrodynamic Model, design a kind of ROV six-freedom motion control imitation system, the function of control crank and automatic control knob can be simulated, control the six-freedom motion of operation type ROV in real time, simulate the dynamic control process of hydraulic pressure screw propeller, the impact that the interference of simulation ocean current flow field, umbilical cables perturbed force and mechanical arm operation power are moved on ROV simultaneously.The present invention is finally applied in the design of operation type ROV Simulator.、
ROV training simulators kinetic control system designed by the present invention has that structure is simple, clear layer, easy to use, the internal control architecture composition of operation type ROV can be described more really, have the advantages that to simulate actual job type ROV sub aqua sport controlling functions and process accurately, also there is the various motion of output operation type ROV that can be true to nature and the advantage of controling parameters change procedure.
Accompanying drawing explanation
The motion control analogue system theory of constitution schematic diagram of Fig. 1 ROV training simulators;
The angle of rake simulation block diagram of Fig. 2 valve control hydraulic screw oar;
The six degree of freedom PID controller composition logic diagram of Fig. 3 ROV training analog system.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
The object of the invention is to provide a kind of kinetic control system that can be applicable to operation type ROV Simulator.The present invention includes: ROV body hydrodynamics system model, flow field, seabed disturbance velocity model, mechanical arm operation perturbed force/moment model, umbilical cables perturbed force/moment model, ROV six degree of freedom PID controller module, thrust of overdriving distribution module, hydraulic screw oar thruster Simulation Control module, 8 propeller thrusts synthesize the thrust/moment module of 6 degree of freedom, thrust/the moment of 6 degree of freedom and external disturbance power/moment synthesis module, ROV automatic control function module and four-degree-of-freedom ROV control crank module.The present invention can simulate in different seabeds flow field velocity and mechanical arm operation perturbed force condition, real time modelling four-degree-of-freedom motion control crank controls longitudinal, horizontal, vertical, the yawing rotation of operation type ROV, the expectation thrust of the output of real time modelling ROV six degree of freedom PID controller or the dynamic changing process of moment of thrust, also can the angle of rake actual thrust output of eight hydraulic screw oars, the speed dynamic change procedure of real time modelling ROV.It is simple, easy to use that operation type ROV motion control analogue system in the present invention has structure, can describe more really operation type ROV internal control architecture composition, can realistic simulation operation type ROV six-freedom degree motion state, six-freedom degree the advantage such as control/moment, screw propeller thrust/speed dynamic change procedure.
The object of the present invention is achieved like this: as shown in Figure 1, and operation type ROV body Hydrodynamic Model exports six-freedom degree motion state, as: displacement/angle, speed/angular velocity, acceleration/angular acceleration information.The motion state of ROV six degree of freedom PID controller Real-time Collection underwater robot six degree of freedom, and according to steering order, as: ROV control crank order, automatically go as course, automatically keep elevation, automatically keep the degree of depth and DP order, through the PID controller of six direction, export the expectation thrust/moment of thrust of six-freedom degree in real time.Thrust/the moment of thrust of this six-freedom degree is input to thrust allocation algorithm module of overdriving, according to the Pseudoinverse algorithm that thrust is distributed, the expectation thrust of four levels and four vertical pusher can be exported in real time.Then, eight angle of rake expectation thrusts are input to hydraulic screw oar thruster Simulation Control module, as shown in Figure 2, respectively through amplifier, hydraulic motor displacement module, screw propeller kinetics equation module, export eight angle of rake real-time thrusts and rotating speed.As shown in Figure 1, thruster actual thrust is input to thrust/moment module that 8 propeller thrusts synthesize 6 degree of freedom, exports the actual thrust/moment of thrust of six-freedom degree.Thrust/the moment of thrust obtained above is input to thrust/moment and the external disturbance power/moment synthesis module of 6 degree of freedom, carry out composite calulation with external disturbance power/moment (mechanical arm operation perturbed force, umbilical cables perturbed force), the thrust/moment of thrust be applied on ROV body can be obtained.
The six-freedom motion controller of operation type ROV training simulators is achieved in that as shown in Figure 3: ROV control crank can the motion of control ROV tetra-degree of freedom, as: forward/backward, shifted left/right, floating/sinking, left/right turn bow motion.ROV automatic control function comprises and automatically goes as course, automatically keeps elevation, automatically keeps the degree of depth and dynamically positioning (DP) function.The function of logic judgment module pre-sets priority according to above control command, carrys out automatic decision and perform which order.The controller of each degree of freedom is divided into inside/outside ring controller (position ring and speed ring), and the control command of ROV control crank changes direct input from speed ring.What priority was the highest is DP function; Taking second place for automatically going as course, automatically keeping elevation/degree of depth order; The order of last ROV control crank.Wherein, automatically keep the degree of depth and automatically keep elevation order to have mutual exclusion feature, one can only be had to order effectively, and when activating one of them order, another order ceases to be in force automatically.Operation type ROV has and automatically keeps heeling angle and the stable function of trim angle.
ROV training simulators kinetic control system designed by the present invention has that structure is simple, clear layer, easy to use, the internal control architecture composition of operation type ROV can be described more really, have the advantages that to simulate actual job type ROV sub aqua sport controlling functions and process accurately, also there is the various motion of output operation type ROV that can be true to nature and the advantage of controling parameters change procedure.
A kind of motion control analogue system of operation type ROV training simulators, based on certain operation type ROV Hydrodynamic Model, devise operation type ROV six-freedom motion control imitation system, comprise: ROV body hydrodynamics system model, flow field, seabed disturbance velocity model, mechanical arm operation perturbed force/moment model, umbilical cables perturbed force/moment model, ROV six degree of freedom PID controller module, thrust of overdriving distribution module, hydraulic screw oar thruster Simulation Control module, 8 propeller thrusts synthesize the thrust/moment of 6 degree of freedom, thrust/the moment of 6 degree of freedom and external disturbance power/moment synthesis module, ROV automatic control function module and four-degree-of-freedom ROV control crank module.The present invention can realize following functions: real time modelling can be controlled the motion of operation type ROV six degree of freedom by control crank or automatic control function button, the dynamic changing process of the thrust/moment of thrust of real time modelling six degree of freedom controller, the angle of rake thrust variation process of real time modelling hydrostatic control, the interference of real time modelling mechanical arm operation perturbed force, current speed, umbilical cables perturbed force are on the impact of operation type ROV motion control performance.
The motion controller of six direction is all that two close cycles (speed ring and position ring) controls.ROV control crank can control the motion of four degree of freedom (forward/backward, left traversing/right traversing, heave, left/right turn bow) by four corresponding speed rings; And trim and heel controller have and automatically keep function.ROV six degree of freedom PID controller also has logic judging function, can according to the priority preset, and automatic decision performs ROV joystick steering command or automatic control function order.
According to the expectation thrust/moment of thrust of the six direction that motion controller exports, according to pseudo-reverse thrust allocation algorithm of overdriving, be distributed into the expectation thrust of eight thrusters (four horizontal propellers and four vertical pusher).
Angle of rake valve control hydraulic pressure link is considered as a scale amplifying link, the each angle of rake expectation thrust of input is converted to the oil motor two ends oil liquid pressure of expectation, and then the moment of torsion being converted into oil motor exports, and comes rotating speed and the thrust of hydraulic control screw propeller with this moment of torsion.In Control System Imitation, add hydraulic screw oar propeller control module, ROV six-freedom motion control imitation can be made closer to the dynamic process of actual job type ROV motion control.
Provide the embodiment of patent of the present invention below, and 1-3 is illustrated by reference to the accompanying drawings.First according to the motion control analogue system principle schematic of ROV training simulators in Fig. 1, in matlab, set up ROV body hydrodynamics system model, flow field, seabed disturbance velocity model, mechanical arm operation perturbed force/moment model, umbilical cables perturbed force/moment model, ROV six degree of freedom PID controller module, thrust of overdriving distribution module, hydraulic screw oar thruster Simulation Control module, 8 propeller thrusts synthesize the thrust/moment of 6 degree of freedom, the thrust/moment of 6 degree of freedom and external disturbance power/moment synthesis module etc.
As shown in Figure 1, operation type ROV body Hydrodynamic Model exports six-freedom degree motion state, the motion state of ROV six degree of freedom PID controller Real-time Collection underwater robot six degree of freedom, and according to steering order, as: ROV control crank order, automatically go as course, automatically keep elevation, automatically keep the degree of depth and DP order, through the PID controller of six direction, export the expectation thrust/moment of thrust of six-freedom degree in real time.Relation between the thrust/moment of thrust of the ROV six degree of freedom shown in formula (1)-(2) and eight angle of rake expectation thrusts; Thrust/the moment of thrust of this six-freedom degree is input to thrust allocation algorithm module of overdriving, according to the Pseudoinverse algorithm of formula (3), the expectation thrust of four levels and four vertical pusher can be exported in real time.
As shown in Figure 2, eight angle of rake expectation thrusts are input to hydraulic screw oar thruster Simulation Control module, eight angle of rake expectation thrusts are input to hydraulic screw oar thruster Simulation Control module, respectively through amplifier, hydraulic motor displacement module, screw propeller kinetics equation module, export eight angle of rake real-time thrusts and rotating speed.Wherein: amplifier can (5) calculate according to the following formula, and design parameter value can with reference to the angle of rake output characteristic curve of hydraulic screw oar.Hydraulic motor displacement module, is the discharge capacity of oil motor, and the angle of rake output torque of hydraulic screw oar can (6) calculate according to the following formula.The moment of torsion that oil motor exports is input to screw propeller kinetics equation module, with reference to lower formula (7)-(9), can obtain real-time rotate speed and the thrust of screw propeller.
As shown in Figure 1, then, thruster actual thrust is input to thrust/moment module that 8 propeller thrusts synthesize 6 degree of freedom, exports the actual thrust/moment of thrust of six-freedom degree according to formula (1).Thrust/the moment of thrust obtained above is input to thrust/moment and the external disturbance power/moment synthesis module of 6 degree of freedom, carry out composite calulation with external disturbance power/moment (mechanical arm operation perturbed force, umbilical cables perturbed force) according to formula (4), the thrust/moment of thrust be applied on ROV body can be obtained.
The above functions of modules of debugging and mutually uniting and adjustment errorless after, set up ROV automatic control function module and four-degree-of-freedom ROV control crank module input knob.In Matlab after Dynamic simulation program, operator by using ROV control crank or automatic control function, to the control command that ROV expects.These steering commands are input to ROV six-freedom motion PID controller, by logic judging function module in controller, and the control command that output priority is the highest.These steering orders by the motion of control ROV, as forward/backward, transverse movement, liter/sink, turn bow, go as course, keep elevation, keep the degree of depth, dynamically positioning function (DP function) etc.Simultaneously, emulator control program also can be selected to realize following functions according to operating personnel: the motion and the state of a control change procedure that export underwater robot in real time, as: with the acceleration, speed, displacement etc. of three dimension linear motions of ROV under earth coordinates, the angular acceleration, acceleration, angular displacement etc. of three rotary motions under ROV body coordinate system; Desired output thrust/the moment of thrust of six-freedom degree, the actual thrust output/moment of thrust of six-freedom degree; Eight angle of rake expectation thrusts, eight angle of rake actual thrusts; Eight angle of rake rotating speeds and consumed power; Eight angle of rake hydraulic valve pressure etc.By arranging different seabeds flow field velocity, and according to the movement velocity of ROV, and then export the dynamic changing process of eight angle of rake rotating speeds and thrust in real time.Different mechanical arm perturbed force during by arranging ROV operation and umbilical cables perturbed force state, can the operation of real-time analog simulation mechanical arm and umbilical cables power on the impact of ROV sub aqua sport.
Expectation thrust/moment of thrust that ROV controller exports and eight thrusters expect that the relation between thrust is shown below:
T X 1 T Y 1 T Z 1 T K 1 T M 1 T N 1 = B ( β ) τ 1 τ 2 τ 3 τ 4 τ 5 τ 6 τ 7 τ 8 - - - ( 1 )
In formula, ---controller exports expects longitudinal thrust; ---controller exports expects lateral thrust; ---controller exports expects vertical thrust; ---controller exports expects Trimming Moment; ---controller exports expects heeling moment; ---controller exports expects yawing; τ i---i-th angle of rake expectation thrust; B (β)---angle of rake vector arranges matrix, can be expressed as:
B ( β ) = [ cβ 1 cβ 2 cβ 3 cβ 4 sβ 1 sβ 2 sβ 2 sβ 4 0 0 0 0 sβ 1 z h - sβ 2 z h sβ 3 z h - sβ 4 z h - cβ 1 z h - cβ 2 z h cβ 3 z h cβ 4 z h cβ 1 y h + sβ 1 x h - cβ 2 y h - sβ 2 x h - cβ 3 y h - sβ 3 x h cβ 4 y h + sβ 4 x h 0 0 0 0 - sβ 5 - sβ 6 - sβ 7 - sβ 8 cβ 5 cβ 6 cβ 7 cβ 8 - sβ 5 z v - cβ 5 y v - sβ 6 z v + cβ 5 y v - sβ 7 z v - cβ 7 y v sβ 8 z v + cβ 8 y v - cβ 5 x v - cβ 6 x v cβ 7 x v cβ 8 x v - sβ 5 x v sβ 6 x v sβ 7 x v - sβ 8 x v - - - ( 2 )
In formula, β i---the i-th (τ 1, τ 2, τ 3, τ 4) angle of individual thruster and body coordinate system OX axle; β i---the i-th (τ 5, τ 6, τ 7, τ 8) angle of individual thruster and body coordinate system OZ axle; x h, y h, z h---be respectively four horizontal propeller (τ 1, τ 2, τ 3, τ 4) distance of OX, OY, OZ axle of distance ROV body coordinate system; x v, y v, z v---be respectively four vertical pusher (τ 5, τ 6, τ 7, τ 8) distance of OX, OY, OZ axle of distance ROV body coordinate system; Symbol c---cosine function cos (); Symbol s---sine function sin ().
Eight angle of rake expectation thrusts can calculate according to the following formula:
τ 1 τ 2 τ 3 τ 4 τ 5 τ 6 τ 7 τ 8 = B - 1 ( β ) T X 1 T Y 1 T Z 1 T K 1 T M 1 T N 1 - - - ( 3 )
Finally act on that making a concerted effort on ROV body/resultant moment can calculate according to the following formula:
T X T Y T Z T K T M T N = T X 2 T Y 2 T Z 2 T K 2 T M 2 T N 2 + T X 3 T Y 3 T Z 3 T K 3 T M 3 T N 3 + T X 4 T Y 4 T Z 4 T K 4 T M 4 T N 4 - - - ( 4 )
In formula: ---be respectively the thrust/moment of thrust of the thrust synthesis six-freedom degree of eight actual outputs of thruster; ---the power/moment of six-freedom degree when being respectively mechanical arm operation; ---be respectively the power/moment of the six-freedom degree of umbilical cables during ROV operation; T x, T y, T z, T k, T m, T n---be respectively/the resultant moment of making a concerted effort of the six-freedom degree acted on ROV body;
The enlargement factor of eight angle of rake hydrostatic control links can calculate according to the following formula:
p L T i = K i - - - ( 5 )
In formula: p l---the pressure differential at oil motor fluid two ends; T i---i-th angle of rake expectation thrust; K i---the enlargement factor corresponding to i-th thruster.
The output torque of oil motor can be calculated as follows:
T g＝D Mp L(6)
In formula: T g---the output torque of oil motor, i.e. driving moment; D m---the discharge capacity of oil motor.
The balance equation of oil motor and loading moment is:
T g = J d 2 θ dt 2 + B M d θ d t + G θ + T L - - - ( 7 )
In formula: T g---the driving moment that oil motor produces; B m---the viscous damping coefficient of load and oil motor; The torsionspring rigidity of G---load, for hydraulic pusher, the torsionspring rigidity of load is zero; Total the moment of inertia of J---oil motor and load; T l---act on any outer loading moment of oil motor, for hydraulic pusher, can think that outer loading moment is the moment of torsion of screw propeller, i.e. T l=Q.
Propeller torque can calculate with following formula:
Q＝K Qρn 2D 5(8)
In formula: Q---the moment of torsion of screw propeller; K q---torque of propeller coefficient; The density of ρ---water; The rotating speed of n---screw propeller; The diameter of D---screw propeller;
Airscrew thrust can calculate with following formula:
T＝K Tρn 2D 4(9)
In formula: K t---propeller thrust coefficient.
The invention belongs to unmanned underwater robot movement control technology field, be specifically related to one to overdrive the six-freedom motion simulation control subsystem method for designing of operation type remote underwater robot (ROV-RemotelyOperatedVehicle) training simulators, comprise ROV body hydrodynamics system model, flow field, seabed disturbance velocity model, mechanical arm operation perturbed force/moment model, umbilical cables perturbed force/moment model, ROV six degree of freedom PID controller module, thrust of overdriving distribution module, hydraulic screw oar thruster Simulation Control module, 8 propeller thrusts synthesize the thrust/moment of 6 degree of freedom, thrust/the moment of 6 degree of freedom and external disturbance power/moment synthesis module, ROV automatic control function module and four-degree-of-freedom ROV control crank module etc.The present invention can realize following functions: real time modelling can be controlled the motion of operation type ROV six degree of freedom by control crank or automatic control function button; The dynamic changing process of the expectation thrust/moment of thrust of real time modelling six degree of freedom controller; Real time modelling is overdrived thrust allocation algorithm function, and the expectation of six direction thrust/moment of thrust is resolved into eight angle of rake expectation thrusts according to certain optimizing distribution method; By introducing hydraulic screw oar thruster Simulation Control module, the dynamic changing process of the angle of rake moment of torsion of real time modelling hydrostatic control, thrust, rotating speed; Real time modelling mechanical arm operation perturbed force, umbilical cables perturbed force are on the impact of ROV motion control performance; The impact of real time modelling current speed interference on ROV motion control performance.It is simple, easy to use that operation type ROV motion control analogue system in the present invention has structure, the internal control architecture composition of operation type ROV can be described more really, can the advantage such as dynamic changing process of realistic simulation operation type ROV six-freedom motion and controling parameters.

Claims (3)

1. the motion control analogue system of operation type ROV training simulators, it is characterized in that: comprise ROV body hydrodynamics system model, flow field, seabed disturbance velocity model, mechanical arm operation perturbed force and moment model, umbilical cables perturbed force and moment model, ROV six degree of freedom PID controller module, thrust of overdriving distribution module, hydraulic screw oar thruster Simulation Control module, what 8 propeller thrusts synthesized 6 degree of freedom pushes away wind tunnel module, 6 degree of freedom push away wind tunnel and external disturbance wind tunnel synthesis module, ROV automatic control function module and four-degree-of-freedom ROV control crank module, ROV body hydrodynamics system model receives the disturbance velocity that flow field, seabed disturbance velocity model exports, and export six-freedom motion state, comprise displacement, angle, speed, angular velocity, acceleration and angular acceleration information,
ROV six degree of freedom PID controller module Real-time Collection six-freedom motion state, and receive the steering order of ROV automatic control function module and the output of four-degree-of-freedom ROV control crank module, through the control of the PID controller of six direction, the expectation thrust of real-time output six degree of freedom and moment of thrust are to thrust distribution module of overdriving;
Thrust of overdriving distribution module, according to the information received, adopts thrust to distribute Pseudoinverse algorithm, exports the expectation thrust of four horizontal propellers and four vertical pusher in real time to hydraulic pressure screw propeller Simulation Control module;
Hydraulic screw oar thruster Simulation Control module is according to the information received, export eight angle of rake actual thrusts and rotating speed, what thruster actual thrust and rotating speed are input to 8 propeller thrusts synthesize 6 degree of freedom pushes away wind tunnel module, obtain actual thrust and the moment of thrust of six-freedom degree, send thrust/moment and the external disturbance wind tunnel synthesis module of 6 degree of freedom to;
Push away wind tunnel and the external disturbance wind tunnel synthesis module of 6 degree of freedom also receive umbilical cables perturbed force and mechanical arm operation perturbed force that umbilical cables perturbed force and moment model export and the mechanical arm operation perturbed force that moment model exports, the actual thrust of reception and moment of thrust and umbilical cables perturbed force and mechanical arm operation perturbed force are carried out composite calulation, obtains being applied to thrust on ROV body and moment of thrust sends ROV body hydrodynamics system model to.
2. the motion control analogue system of a kind of operation type ROV training simulators according to claim 1, it is characterized in that: described four-degree-of-freedom ROV control crank module exports the motion that steering order is ROV tetra-degree of freedom, comprise and advance or retreat, move to left or move to right, float or sinks and left or right turns bow and moves; The steering order that ROV automatic control function module exports is the elevation that automatically goes as course, automatically keeps, automatically keeps the degree of depth and dynamically positioning function;
ROV six degree of freedom PID controller module also comprises logic judgment module, logic judgment module pre-sets priority according to the steering order of ROV automatic control function module and four-degree-of-freedom ROV control crank module, and the PID controller of six direction carries out control response according to the steering order of current reception and the priority pre-set.
3. the motion control analogue system of a kind of operation type ROV training simulators according to claim 1, it is characterized in that: described hydraulic screw oar thruster Simulation Control module comprises amplifier, hydraulic motor displacement module, screw propeller kinetics equation module, the expectation thrust of amplifier accepts four horizontal propellers and four vertical pusher, convert the oil motor two ends oil liquid pressure of expectation to, export to hydraulic motor displacement module, the moment of torsion being converted into oil motor exports to screw propeller kinetics equation module, export eight angle of rake actual thrusts and rotating speed.
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CN112530226A (en) * 2020-12-13 2021-03-19 中国船舶重工集团公司七五0试验场 ROV simulation training system for turbid water area auxiliary operation
CN113741213A (en) * 2021-08-11 2021-12-03 中国海洋石油集团有限公司 Mooring tie-back installation operation simulation platform of deepwater semi-submersible platform
CN114620207A (en) * 2022-03-16 2022-06-14 中船重工海洋装备(海南)有限公司 Thrust distributor and thrust distribution method of underwater robot
CN116011294A (en) * 2023-02-06 2023-04-25 哈尔滨工程大学 Method for building six-degree-of-freedom ROV operation simulation platform

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CN105676867A (en) * 2016-04-21 2016-06-15 南京工程学院 ROV underwater robot suspension attitude stabilization control method
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
CN105824250A (en) * 2016-05-14 2016-08-03 大连理工大学 Bionic arm control system based on cerebellum model and method for cerebellum model modeling
CN105824250B (en) * 2016-05-14 2018-10-19 大连理工大学 Bionic arm control system based on cerebellar model and cerebellar model modeling method
CN107423486A (en) * 2017-06-16 2017-12-01 哈尔滨工程大学 One kind is entering ship stage floating support mounting job model modeling and simulating method
CN107423486B (en) * 2017-06-16 2020-09-11 哈尔滨工程大学 Modeling simulation method for floating-in-ship installation operation model in ship-entering stage
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
CN107168073A (en) * 2017-07-20 2017-09-15 江苏科技大学 Underwater robot propeller control device and its control method based on Adaptive PID Control
CN107168073B (en) * 2017-07-20 2023-08-22 江苏科技大学 Underwater robot propeller control device based on self-adaptive PID control and control method thereof
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
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
CN109062079A (en) * 2018-08-31 2018-12-21 南京邮电大学 The emulation mode of underwater robot multifreedom motion control based on ROS
WO2021012962A1 (en) * 2019-07-25 2021-01-28 山东大学 Deep-sea crane active heave compensation controller and control system
CN110434876A (en) * 2019-08-09 2019-11-12 南京工程学院 A kind of six degree of freedom ROV driving simulation system and its analogy method
CN110434876B (en) * 2019-08-09 2024-03-22 南京工程学院 Six-degree-of-freedom ROV simulation driving system and simulation method thereof
CN112530226A (en) * 2020-12-13 2021-03-19 中国船舶重工集团公司七五0试验场 ROV simulation training system for turbid water area auxiliary operation
CN112530226B (en) * 2020-12-13 2023-10-27 中国船舶重工集团公司七五0试验场 ROV simulation training system for auxiliary operation of turbid water area
CN113741213A (en) * 2021-08-11 2021-12-03 中国海洋石油集团有限公司 Mooring tie-back installation operation simulation platform of deepwater semi-submersible platform
CN113741213B (en) * 2021-08-11 2024-03-22 中国海洋石油集团有限公司 Deepwater semi-submersible platform mooring tieback installation operation simulation platform
CN114620207A (en) * 2022-03-16 2022-06-14 中船重工海洋装备(海南)有限公司 Thrust distributor and thrust distribution method of underwater robot
CN116011294A (en) * 2023-02-06 2023-04-25 哈尔滨工程大学 Method for building six-degree-of-freedom ROV operation simulation platform
CN116011294B (en) * 2023-02-06 2023-07-07 哈尔滨工程大学 Method for building six-degree-of-freedom ROV operation simulation platform

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