CN107211583B - A kind of platform dynamical balancing method based on double-deck floating body - Google Patents
A kind of platform dynamical balancing method based on double-deck floating bodyInfo
- Publication number
- CN107211583B CN107211583B CN201318000514.3A CN201318000514A CN107211583B CN 107211583 B CN107211583 B CN 107211583B CN 201318000514 A CN201318000514 A CN 201318000514A CN 107211583 B CN107211583 B CN 107211583B
- Authority
- CN
- China
- Prior art keywords
- robot
- floating body
- block
- buoyancy
- dynamometer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 238000007667 floating Methods 0.000 title claims abstract description 50
- 230000005484 gravity Effects 0.000 claims description 28
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 235000002505 Centaurea nigra Nutrition 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 241001073742 Mylopharodon conocephalus Species 0.000 claims 1
- 238000005096 rolling process Methods 0.000 abstract description 7
- 238000011105 stabilization Methods 0.000 abstract description 4
- 235000010585 Ammi visnaga Nutrition 0.000 description 2
- 240000005093 Ammi visnaga Species 0.000 description 2
- 240000003323 Centaurea nigra Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002045 lasting Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 241001415961 Gaviidae Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000005591 charge neutralization Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000005213 imbibition Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000001264 neutralization Effects 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000003287 optical Effects 0.000 description 1
- PDEDQSAFHNADLV-UHFFFAOYSA-M potassium;disodium;dinitrate;nitrite Chemical compound [Na+].[Na+].[K+].[O-]N=O.[O-][N+]([O-])=O.[O-][N+]([O-])=O PDEDQSAFHNADLV-UHFFFAOYSA-M 0.000 description 1
- 230000001141 propulsive Effects 0.000 description 1
- 238000004805 robotic Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Abstract
The present invention relates to a kind of platform dynamical balancing method based on double-deck floating body, it is technically characterized in that：Using slightly matching somebody with somebody gentle thin trim twice step, and configured with floating body block, and using the method for disturbance checking trim so that underwater robot can complete ensure motion stabilization when floatings, dive, advance, retrogressing, driftage, rolling and pitching etc. are acted.This float arrangement method causes underwater robot to realize indifferent equilibrium so that underwater robot can preferably adapt to the pitching, driftage and rolling movement of various angles in space.Meanwhile, control system is simplified, the complexity of system is reduced.
Description
Technical field
The invention belongs to the float arrangement method of underwater robot, it is related to a kind of platform dynamic equilibrium based on double-deck floating body
Method, be particularly suitable for use in stabilization of the experiment body under any state.
Background technology
Underwater robot can be swum in water or seabed walking, with observation ability and using manipulator or other
Instrument carries out the automation equipment of underwater operation.It can be divided into manned underwater robot (Human Occupied Vehicle,
Abbreviation HOV), cable control underwater robot (Remotely operated vehicle, abbreviation ROV) and it is autonomous nobody under water
Robot (Autonomous Underwater Vehicle, abbreviation AUV).
Manned underwater robot is also known as manned underwater vehicle, and its volume is big, passes through the pilot control submersible in latent device
Operation, mainly substitutes diver and diving operation is carried out in deep-sea, can carry out ocean expedition, salvaging, underwater operation
And lifesaving, but it is bigger than nobody latent device, it is also dumb；Untethered autonomous type underwater robot (AUV) is due to breaking away from
The yoke of heaving pile, at sea fight and operation in more nimbly and freely, just ground as the military marine technology of developed country
The forward position studied carefully, but at this stage, it can not carry out various types of underwater operation tasks；ROV is dragged behind ROV
Tape cable (or optical cable) is operated under the control of people, with safety, economy, efficiently and depth of implements is big etc. prominent
Go out feature.ROV is mainly used in exploitation of offshore oil and natural gas etc. on civilian；In the application early stage of military aspect
It is mainly used in losing the salvaging that weapon is tested in seabed, abundant development had been obtained on underwater mine neutralization vehicle again later.The U.S. is in the party
Face maintains the leading position, and its PAP-104 succeeded in developing in 1971 sells nearly 400, English to 15 countries
State removes submarine mine using PAP-104 in British-Argentine Malvinas Islands War, has played huge effect.
ROV is several big by buoyant module, carrier frame, propulsive units, power tool, sealed compartment and auxiliary accessories etc.
Part is constituted.
Floating body module is to be used to provide the most buoyancy of whole ROV, to ensure that ROV can be with suspension in water
Regimes.
Current ROV floating body module generally employs the top configuration floating body of robot under water, ROV big portion
Buoyancy is divided to be provided by its top, overall weight concentrates on the scheme of central lower, as shown in Figure 1.Such as Italy
The PERSEO underwater robots of AGEPTEC companies, the H300 type underwaters of French ECA Hitec companies production
Such buoyancy layout is employed per capita.
The content of the invention
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of platform dynamic equilibrium side based on double-deck floating body
Method,
A kind of platform dynamical balancing method based on double-deck floating body, it is characterised in that：Underwater robot upper and lower surface shape
It is in the same size, and robot barycenter be located at its centre of form at, equilibrium step is as follows：
Step 1：, thick trim：Underwater robot is hung using hang spring and is placed in water, the low precision of connection above hang spring
The dynamometer registration shown on dynamometer, dynamometer is the gravity of robot and the difference of buoyancy；In robot on a certain
The floating block of same size is fixed on the both sides in longitudinally asymmetric face respectively, dynamometer registration is more than zero, less than 1.5N, is slightly matched somebody with somebody
It is flat to complete；
Step 2：According to the size of robot upper and lower surface, even consistent with robot upper and lower surface shape of cutting polylith
Matter floating body block, the floating body block is hardhead sponge material, and thickness is 0.4 centimetre, and the density after water suction is 950kg/m3；
Step 3：Two pieces of floating body blocks are fixed in the upper and lower surface of robot, and robot is hung with hang spring and are put into water
Middle submergence, the high-precision dynamometer of hang spring upper end connection；
Step 4：If dynamometer registration shows that the gravity of robot is more than buoyancy, floating body block is gradually fixed to by block-by-block
The lower surface of robot, until the registration of dynamometer is more than zero, untill 0.1N, records the floating body block now added
Number, hang spring is taken off, now robot is basic in water keeps suspended state；
Step 5：Give robot lateral microvariations, if robot total energy indifferent equilibrium after disturbance, and keep equilibrium-like
State at least five minutes, now the centre of buoyancy of robot overlapped with center of gravity, meet dynamic balance state；
Step 6：If robot is unable to indifferent equilibrium after disturbance, gradually block-by-block takes down the floating body block of lower surface, and solid
Surely upper surface is arrived；
During the floating body block of lower surface is transferred into upper surface, i.e. repeat step 5 is often shifted once, works as disturbance
Robot total energy indifferent equilibrium, and keep poised state at least five minutes afterwards, now the centre of buoyancy of robot is overlapped with center of gravity,
Meet dynamic balance state.
Platform dynamical balancing method proposed by the present invention based on double-deck floating body, using the machine under water of this float arrangement method
Device people can ensure motion stabilization when completing the action such as floating, dive, advance, retrogressing, driftage, rolling and pitching.
This float arrangement method causes underwater robot to realize indifferent equilibrium so that underwater robot can preferably adapt to sky
Between in various angles pitching, driftage and rolling movement.Meanwhile, control system is simplified, the complexity of system is reduced
Degree.
Brief description of the drawings
Fig. 1：Floating body module is located at the structural representation on ROV tops；
Fig. 2：Centre of buoyancy and the relation of center of gravity；
Fig. 3：Double-deck float structure centre of buoyancy and center of gravity schematic diagram.
Embodiment
In conjunction with embodiment, accompanying drawing, the invention will be further described：
The underwater robot of the present embodiment (is retreated, sidesway, lifting, pitching, driftage (is shaken with six degree of freedom
Bow), roll) free body.It can not only be moved in a given direction, the accurate track for keeping selecting, and
And can be worked in the state of compensation external disturbance.
The buoyancy configuration of underwater robot, the position relationship meeting of the magnitude relationship of such as buoyancy and gravity, centre of buoyancy and center of gravity
Directly influence the kinetic characteristic and stability of experiment body.
The layout that floating body module configures the top of robot under water has simple in construction, low cost and other advantages, while by
There is provided in most of buoyancy of underwater robot by its top, can effectively improve hull position, so as to increase metancenter
Highly (difference in height at centre of buoyancy and center) improves the attitude stability of underwater robot, but with certain limitation
Property.
Gravity equal with buoyancy is that object maintains submerged body and the necessary condition of floating body state.The only center of gravity of object and centre of buoyancy
It is also located at simultaneously on same plumb line, submerged body can just be in poised state, is its adequate condition.
As shown in Fig. 2 (a) when underwater robot carries out low-angle rolling movement, center of gravity C is located under the D of centre of buoyancy,
Underwater robot is due to tilting, gravity G and buoyancy FBFormation one is the rotatory force that submerged body recovers original equilbrium position
Square, makes it set back, and prevents the progress of rolling movement.This is accomplished by the control lasting to underwater robot progress and come
The motion state is maintained, this just proposes higher requirement to control system, add the complexity of control system.
In addition, when underwater robot carries out the rolling movement of wide-angle, in fact it could happen that such as Fig. 2 (b) situation, weight
Heart C is located on the D of centre of buoyancy, gravity G and buoyancy FBOne, which will be produced, makes underwater robot continue inclined rotatory force
Square, this will also influence the motion of underwater robot currently, it is also desirable to which control system carries out lasting control to maintain the motion
State, adds the complexity of control system.
As shown in Fig. 2 (c), when center of gravity C is overlapped with centre of buoyancy, if underwater robot has an inclination, gravity G and
Buoyancy FBRotating torque will not be produced, underwater robot will be in indifferent equilibrium state.Now, no matter underwater robot
In which kind of posture, all without the torque that produce influence underwater robot motion due to center of gravity and centre of buoyancy misaligned,
Attitude stabilization of the underwater robot in water is advantageously ensured that, is also beneficial to test the motion that body carries out six degree of freedom, together
When be also simplified control system.
The present embodiment as shown in figure 3, the upper and lower part of robot being evenly arranged to the heart under water in this programme respectively
One layer of floating body so that the centre of buoyancy of underwater robot reaches with center of gravity to be overlapped, and meets the condition of indifferent equilibrium.
Specific implementation step：
It is assumed that the underwater robot upper and lower surface shape size is consistent, and the barycenter of robot is located at its centre of form.
Step 1：
Thick trim：When initial, the gravity of underwater robot is more than buoyancy, and underwater robot is placed in water, hang spring is utilized
Hang, connect a low precision dynamometer above hang spring, dynamometer registration is the gravity of robot and the difference of buoyancy；In machine
Device people fixes the floating block of same size on the both sides in a certain longitudinally asymmetric face respectively, makes dynamometer registration more than zero, small
In 1.5N, thick trim is completed；
Step 2：
The basic configuration of the upper and lower surface of underwater robot is observed, the upper and lower surface of underwater robot is measured using slide measure
The basic size (including length, width etc.) of two kinds of shapes, and note down；
Step 3：
According to the shape and measured basic size recorded, 20 are cut on the homogeneous floating body block that thickness is 0.4 centimetre
Block is consistent with robot upper and lower surface shape, the consistent floating block of basic size；(wherein the floating body block is hardhead sponge material,
There is certain water imbibition, the density after water suction is 950kg/m3, then according to robotic surface size, floating body thickness etc.
Master data is by formula fFloating compensation=(ρLiquid-ρFloating block)gSh；Every piece of floating body, which can be obtained, can provide 0.1N compensation buoyancy, ρLiquidTable
Show the density of liquid, ρFloating blockRepresent the density of floating body block)
Step 4：
First take two pieces of the floating block cut to be separately fixed at using nylon tied silk in the upper and lower surface of robot, robot is put
Enter in water, submerge, and hung with hang spring, a high-precision dynamometer is fixed in hang spring upper end；(the artificial hollow design of machine,
Its buoyancy is slightly less than gravity, and primary gravity buoyancy difference is 1.5N or so)
Step 5：
Now because two floating blocks are relatively thin, the gravity of robot is more than buoyancy, and dynamometry is represented under water in respect of registration, the registration
Gravity and the difference of buoyancy that robot is subject to；
Step 6：
Remaining floating block is taken, and floating block block-by-block is gradually fixed to the lower surface of robot using toothpick, until dynamometer
Registration be more than zero, untill 0.1N, record the number of floating body block now added, hang spring taken off, this opportunity
Device people is basic in water to keep suspended state；
Step 7：
The lateral microvariations of one, robot are repeatedly given, if robot total energy indifferent equilibrium (keeps poised state extremely after disturbance
It is few five minutes), then floating block is further fixed, now the centre of buoyancy of robot is overlapped with center of gravity, meets dynamic balance state；
Step 8：
If robot is unable to indifferent equilibrium after disturbance, gradually block-by-block removes surface floating block, and using toothpick fixed to upper
Surface；
Step 9：
Repeat step 7,8, until robot can indifferent equilibrium, the dynamic equilibrium for so far completing underwater robot matches somebody with somebody
It is flat.
Claims (1)
1. a kind of platform dynamical balancing method based on double-deck floating body, it is characterised in that：Underwater robot upper and lower surface shape
It is in the same size, and robot barycenter be located at its centre of form at, equilibrium step is as follows：
Step 1：, thick trim：Underwater robot is hung using hang spring and is placed in water, the low precision of connection above hang spring
The dynamometer registration shown on dynamometer, dynamometer is the gravity of robot and the difference of buoyancy；In robot on a certain
The floating block of same size is fixed on the both sides in longitudinally asymmetric face respectively, dynamometer registration is more than zero, less than 1.5N, is slightly matched somebody with somebody
It is flat to complete；
Step 2：According to the size of robot upper and lower surface, even consistent with robot upper and lower surface shape of cutting polylith
Matter floating body block, the floating body block is hardhead sponge material, and thickness is 0.4 centimetre, and the density after water suction is 950kg/m3；
Step 3：Two pieces of floating body blocks are fixed in the upper and lower surface of robot, and robot is hung with hang spring and are put into water
Middle submergence, the high-precision dynamometer of hang spring upper end connection；
Step 4：If dynamometer registration shows that the gravity of robot is more than buoyancy, floating body block is gradually fixed to by block-by-block
The lower surface of robot, until the registration of dynamometer is more than zero, untill 0.1N, records the floating body block now added
Number, hang spring is taken off, now robot is basic in water keeps suspended state；
Step 5：Give robot lateral microvariations, if robot total energy indifferent equilibrium after disturbance, and keep equilibrium-like
State at least five minutes, now the centre of buoyancy of robot overlapped with center of gravity, meet dynamic balance state；
Step 6：If robot is unable to indifferent equilibrium after disturbance, gradually block-by-block takes down the floating body block of lower surface, and solid
Surely upper surface is arrived；
During the floating body block of lower surface is transferred into upper surface, i.e. repeat step 5 is often shifted once, works as disturbance
Robot total energy indifferent equilibrium, and keep poised state at least five minutes afterwards, now the centre of buoyancy of robot is overlapped with center of gravity,
Meet dynamic balance state.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107211583B true CN107211583B (en) | 2015-04-15 |
Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108711815A (en) * | 2018-05-28 | 2018-10-26 | 山东建筑大学 | A kind of cable floating ball device based on underwater robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108711815A (en) * | 2018-05-28 | 2018-10-26 | 山东建筑大学 | A kind of cable floating ball device based on underwater robot |
| CN108711815B (en) * | 2018-05-28 | 2023-10-03 | 山东建筑大学 | Cable floating ball device based on underwater robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR03 | Grant of secret patent right | ||
| DC01 | Secret patent status has been lifted | ||
| CP02 | Change in the address of a patent holder |
Address after: Beilin District Shaanxi province Xi'an City friendship road 710072 No. 127 Patentee after: Northwestern Polytechnical University Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Patentee before: Northwestern Polytechnical University |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 Termination date: 20180123 |