CN107953350A - It is a kind of to be used to detect the underwater robot control system with operation - Google Patents

It is a kind of to be used to detect the underwater robot control system with operation Download PDF

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Publication number
CN107953350A
CN107953350A CN201610901149.6A CN201610901149A CN107953350A CN 107953350 A CN107953350 A CN 107953350A CN 201610901149 A CN201610901149 A CN 201610901149A CN 107953350 A CN107953350 A CN 107953350A
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module
control system
underwater
motor
water surface
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梁凇
曾庆军
张光义
戴晓强
赵强
朱春磊
徐鹏程
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JIANGSU SHIP-TECAUTOMATION TECHNOLOGY Co Ltd
Jiangsu University of Science and Technology
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JIANGSU SHIP-TECAUTOMATION TECHNOLOGY Co Ltd
Jiangsu University of Science and Technology
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Publication of CN107953350A publication Critical patent/CN107953350A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a kind of underwater robot control system for detecting with operation, including water surface control system, Subsea Control Systems, the water surface control system to be placed on bank or lash ship, and Subsea Control Systems installation is under water in detection and Work robot；The water surface control system includes water surface console, surface communications transceiver, umbilical cables, VR glasses；The submarine system include subsurface communication transceiver, ARM9 master controllers, ARM M0 from controller, underwater power module, power safety detection module, leak water detdction module, No.1 low-tension supply, communication module, No. two low-tension supplies, download mouth, cradle head camera, sensor assembly, underwater lamp, manipulator, propeller control module.The system of the present invention has the advantages that multi-functional, modular, convenient installation and dismounting；Water surface console, which has the function of promptly to clap, to stop, and is equipped with the tablet computer of wireless connection, it is possible to achieve mobile monitors and positioning.

Description

It is a kind of to be used to detect the underwater robot control system with operation
Technical field
The present invention relates to a kind of robot, more particularly to it is a kind of be used to detect the underwater robot control system with operation, Belong to robotic technology field.
Background technology
With the exhaustion of land resources, the development and utilization of marine resources plays human development and social progress huge push away Action is used.One of the means of underwater robot as exploitation ocean, are widely paid close attention to and are studied always.In recent years, state Inside and outside majority underwater robot there was only floating capability or ability of creeping, and can realize the underwater machine for the both of which for swimming and climbing wall Device people is more rare.Underwater detection and Work robot, are a kind of novel modularization, multi-functional, band cable remote control underwater People, can between swimming and creeping mode free switching, and carry out underwater operation, be widely used in underwater observation, swim The operations such as prospecting, sea floor exploration, submerged structure maintenance, submerged pipeline detection and underwater installation, have become ocean engineering water Lower structure safety detection and the critical equipment of maintenance.
With the research and development of underwater robot, the function of underwater robot has been not limited solely to low speed under water Or high speed operation, and need to have such as：Hover, rotate and climb the mobility of the higher such as latent.Robot, which performs, under water appoints During business, submarine navigation device is not only required to be moved under environmental perturbation effect according to predetermined track, and in many feelings Need to carry out finer observation and operation to object using underwater robot under condition, this just need underwater robot relative to The position of object remains unchanged, that is, requires underwater robot to have the dynamic positioning ability that can resist environmental perturbation.Due to Dynamic positioning system has to be limited from the depth of water, is put into and is withdrawn the advantages that rapid and can realize above-mentioned accurate motor-driven Performance.Therefore, to make underwater robot have stronger ability in deep-sea, studying the dynamic positioning technology of underwater robot is Extremely it is necessary.
With computer technology, GPS positioning technology and the fast development for communicating sensing technology, long-distance intelligent underwater structure Detect observation ability, top stream work capacity, high-precision motion control and stationkeeping ability of the robot in complicated underwater environment Human-computer interaction circle between system and underwater observation operating system is supported etc. being required to further improve, while by improving the water surface Face, increases data handling capacity, and it is development to improve underwater structure detection robot Operational Control Level and operating characteristics comprehensively One of trend.With reference to the underwater detection developed and Work robot, dynamics is established based on hydrodynamic simulation method Model, carries out six degree of freedom dynamic positioning analysis.By the position and bow of sensor acquisition ROV to using adaptively without mark card Kalman Filtering algorithm (AUKF) estimates the state of underwater robot in real time, and using multivariable, multi-modal quick non-singular terminal Sliding formwork control (FNTSMC) is compensated by thrust, to reduce the influence brought at random by wave etc., is designed according to position error Power and Torque distribution strategy.This method has good dynamic positioning effect, and can rapid motivation of adjustment after being disturbed Allocation strategy so that ROV can rapidly converge to target point.Application No. 200310105200, it is entitled " a kind of distributed Underwater robot control system ", it is only with RS-485 network services all the way, and reliability is low, and volume of transmitted data is also few；Shen It please number be 201310357116.6 entitled " a kind of control devices on shallow water small underwater robot deck ", not clap promptly Stop button, run into emergency procedure inconvenience, be also not equipped with tablet computer, it is impossible to realize movable monitoring robot, not side Just other staff's observer robot operation.The patent document of Application No. " 201410090281.4 " discloses one kind, and " ship moves The control method and its control system of power alignment system ", but used pid control algorithm convergence is poor so that and ship connects Close-target point is slower, and easily vibrates；The patent document of Application No. " 201510016643.X " discloses a kind of " base In improve Strong tracking filter state observer dynamic localization method for ship ", its improve Strong tracking filter state observer on The robustness of ambiguous model is poor, and precision of state estimation is not high, the problems such as easily diverging.
The content of the invention
It is used to detect the underwater robot control system with operation it is an object of the invention to provide a kind of, there is provided Yi Zhongneng Multi-signal is enough transmitted, with scram button, console video is shown, more reliable security alarm module, it is possible to achieve swim With the Modular control system for two kinds of functions of creeping, and it is a kind of can improve underwater robot stability based on adaptive nothing Mark Kalman filtering state observer and multivariable, the underwater robot power of multi-modal quick non-singular terminal sliding mode controller Localization method.
To reach above-mentioned purpose, the present invention is achieved by the following technical programs：
It is a kind of to be used to detect the underwater robot control system with operation, including water surface control system, Subsea Control Systems, The water surface control system is placed on bank or lash ship, and Subsea Control Systems installation detects under water and Work robot On；The water surface control system includes water surface console 1, surface communications transceiver 2, umbilical cables 3, VR glasses 5, the water surface control Platform 1 processed is connected with surface communications transceiver 2, and the VR glasses 5 are connected with water surface console 1, the surface communications transceiver 2 with Umbilical cables 3 are connected；
The submarine system includes subsurface communication transceiver 4, ARM9 master controllers 6, ARM-M0 and is supplied from controller 7, under water 12, No. two electric module 8, power safety detection module 9, leak water detdction module 10, No.1 low-tension supply 11, communication module low tensions Source 13, download mouth 14, cradle head camera 15, sensor assembly 16, underwater lamp 17, manipulator 18, propeller control module 19；Institute State subsurface communication transceiver 4 with umbilical cables 3 to be connected, receive the control information from water surface control system, the ARM9 main controls Device 6 is connected with subsurface communication transceiver 4, the underwater power module 8 and subsurface communication transceiver 4, ARM9 master controllers 6, ARM-M0 is from controller 7, power safety detection module 9, leak water detdction module 10, No.1 low-tension supply 11, communication module 12, two Number low-tension supply 13, cradle head camera 15, sensor assembly 16, underwater lamp 17, manipulator 18, Powered Propulsion module 19 are connected, The underwater power module 8 is powered to Subsea Control Systems, and propeller control module 19 receives speed of the ARM-M0 from controller 7 And directional information, propeller rotation is driven, underwater lamp 17 and manipulator 18 receive the signal from ARM-M0 from controller 7, cloud Platform camera 15 directly receives the information of water surface console 1, power detecting module 9 and leak inspection by subsurface communication transceiver 4 Survey the detection robot internal environmental information of module 10 and power information is sent to ARM-M0 from controller 7, and make data storage, pass 16 sampling depth of sensor module, navigation, posture, sonar data are transferred to ARM9 master controllers 6 and are controlled；The ARM9 master controls Device 6 processed gathers submarine system each unit data by ARM-M0 from controller 7, and the water surface is sent to via subsurface communication transceiver 4 Control system.
The a kind of of the present invention is used to detect the dynamic localization method with the underwater robot control system of operation, including following Step：
Step 1：In the case where there are environmental disturbances, the position of dynamic positioning underwater robot is gathered by sensing system Put with bow to information, dynamics and Kinematic process that underwater robot moves, wherein water are drawn to information by position and bow The kinematics model of lower robot is：
In formula,For position of the underwater robot relative to fixed coordinate system and attitude angle, whereinFor roll angle, θ is pitch angle, and ψ is course angle；V=[u v w p q r]T, be underwater robot in hull coordinate system Linear velocity and angular speed, wherein u, v, w are respectively x, y, the linear velocity of z coordinate direction of principal axis, p, q, r x, y, z coordinate direction of principal axis Angular speed；J (η) is coordinate conversion matrix；M is underwater robot inertial matrix, M ∈ R6×6；C (v)=CRB+CA, it is underwater machine The coriolis force and centripetal force matrix of device people's additional mass, CRBFor the coriolis force of underwater robot additional mass, CAFor underwater People's centripetal force matrix, C (v) ∈ R6×6；D(vξ) it is underwater robot fluid resistance matrix, D (vξ)∈R6×6；vξ=v-vdTo remove The speed of underwater robot during environmental disturbances power；The restoring force matrix that g (η) is made of gravity and buoyancy, g (η) ∈ R6×1；τ is The thrust that underwater robot propeller provides, τ ∈ R6×1；ξ is environmental disturbances power, ξ ∈ R6×1；
Formula (1) is transformed to：
Adaptive Unscented kalman filtering algorithm is based on following nonlinear discrete state-space model：
In formula, k represents system discrete sampling time point, k >=0；xk|k-1=[η v]TFor the system estimation state at k moment Amount；fk(xk-1|k-2)=[J (η) v-M-1CRBv-M-1CAvξ-M-1Dvξ-M-1g]T, fk(xk-1|k-2) it is xk-1To xkA step transfer square Battle array；B=[06×6 M-1]TFor coefficient matrix；u∈R6×1It is propeller thrust；wkFor system incentive Gaussian sequence；hkFor Measurement matrix, the mathematical relationship between reacting dose measurement and estimator；vkFor measuring value Gaussian sequence；ykFor the k moment Sensor measuring value；
Step 2：Adaptive Unscented kalman filtering state observer is realized by following design procedure：
1) state primary condition is
Wherein, x0For state initial value；For x0Average；P0To predict covariance initial value；It is initial for system noise Value；
2) forecast updating
For what is givenAnd Pk-1|k-1, according to formula (7)-(13) status predication is sought with UT methodsWith
Step A. calculates Sigma points：
Wherein, χk-1For the Sigma points at k-1 moment；For the state value at k-1 moment；Pk-1|k-1It is pre- for the k-1 moment Survey covariance；N is that λ is proportionality coefficient more than 1 positive integer；
Step B. forecast updatings:
χk|k-1=f (χk-1) (8)
Wherein, f (χk-1) it is χk-1To χkMatrix of shifting of a step；WithFor average and the weighted value of covariance； For the system noise at k-1 moment；h(χi,k|k-1) it is measurement matrix；
Predict that covariance is：
3) diverging judges
By formulaJudge whether to dissipate, such as diverging corrects P according to formula (14)-(16)k|k-1, no Diverging then enters in next step, whereinFor residual sequence；
4) renewal is measured
According to formula (17)-(19), try to achieve and measure variance Pyy,PxyWith filtering gain Kk
5) recurrence estimation system noise statistical property
Wherein, dk-1=(1-b)/(1-bk), j=0,1 ..., k-1, b become forgetting factor, and the scope of b is
6) the measurement updated value for obtaining current underwater robot isAnd Pk|k：
Step 3：Non-singular terminal sliding mode controller is according to the position and bow of current underwater robot to estimate with setting The position of target and bow are contrasted to obtain position error to value, obtain power compensation value：
DefinitionIt is equal with η, is the real-time position of robot and posture, thenRepresent linear velocity and Angular speed,Represent linear acceleration and angular acceleration, make nd(constant) is positioning target, then position error is expressed as ne=n- nd, algorithm realizes that target to find appropriate control law, enables the position n of underwater robot to reach desired value n as soon as possibled, i.e., neZero is rapidly converged in finite time；
Define computing
Wherein, sign is sign function, x1,…x6For each state variable, γ1,…γ6For state variable coefficient；
Then the FNTSMC designs of this algorithm are as follows：
S is sliding-mode surface, in order to make the speed at tie point continuous, i.e. neDuring=εIt is equal, so having
In formula, ε=diag { ε1,···ε6, β=diag { β1,···β6, βi∈R+, s=[s1,…,s6]T,pi,qi∈N+, i=1,2,6 and 1 ＜ pi/qi＜ 2；
Using following terminal attractors as tendency rate：
Wherein,
k1=diag (k11,…,k16),k2=diag (k21,…,k26), k1i,k2i∈R+, i=1,2,6；
The first derivative of formula (24) represents as follows：
Wherein, I ∈ R6×6, i=1,2,6,
It can be obtained by formula (23)~(27), for the non-linear dynamic model formula (1) of ROV, if variable FNTSM chooses Formula (24), tendency rate chooses formula (26), using following control rate：
U=u1+u2 (30)
Wherein, work as to mitigate | ne| during ＞ ε, the chatter phenomenon in SMC, SMC is substituted using saturation function sat (s/ Δs) In exponential approach rate sign function sig (s), and take boundary layer Δ=0.01, α=diag { β1,···β6, αi∈R+。
The purpose of the present invention can also further be realized by following technical measures：
Be previously used for detection and the underwater robot control system of operation, wherein water surface console 1 include industrial personal computer 101, Liquid crystal display 102, Arduino platforms 103 (Arduino platforms 103 are a electronics Prototyping Platforms increased income), knob 104, emergency stop Switch 105, manipulate rocking bar 106, indicator light 107；The emergency stop switch 105 passes through Arduino platforms 103 and 101 phase of industrial personal computer Even, emergency stop switch 105 is in case of emergency pressed, system shutdown power supply stops control；Rocking bar 106 is manipulated to put down by Arduino Platform 103 is connected with industrial personal computer 101, the people that operates machine advance, retrogressing, rotation, floating, dive, traversing, tumbling action, the rotation Button 104, indicator light 107 are connected by Arduino platforms 103 with industrial personal computer 101, input, output control information；Liquid crystal display 102 The upper computer software interface that real-time display is installed on industrial personal computer 101, tablet computer 108 by wireless communication and industrial personal computer 101, Mobile access robot control information, aids in non-operator decision-making；Industrial personal computer 101 is connected with surface communications transceiver 2, carries out Data transmit-receive.
The underwater robot control system of detection and operation is previously used for, wherein Powered Propulsion module 19 includes I2C communicates Module 1901, write motor speed module 1902, read motor speed module 1903, read electric moter voltage module 1904, read current of electric Module 1905, read motor temperature module 1906, motor drive module 1907, left longitudinal motor 1908, right longitudinal motor 1909, a left side Vertical motor 1910, right vertical motor 1911, lateral motor 1912；It is described to write motor speed module 1902, read motor speed mould Block 1903, reading electric moter voltage module 1904, reading machine current model 1905, reading motor temperature module 1906 pass through I2C communication moulds Block 1901 communicates with ARM-M0 from controller 7；The speed signal PWM and direction signal DIR that the ARM-M0 is sent from controller 7 Motor drive module 1907 is controlled by writing motor speed module 1902, so as to control left longitudinal motor 1908, right longitudinal motor 1909th, left vertical motor 1910, right vertical motor 1911, lateral motor 1912 carry out forward-reverse, steering, floating dive, horizontal stroke Move, the movement of 5 frees degree of roll.
The underwater robot control system of detection and operation is previously used for, wherein power safety detection module 9 includes three tunnels Power supply enables module 901, three-way power reports an error module 902, three-way power voltage detection module 903, three-way power current detecting Module 904, three-way power temperature detecting module 905, module 902 that the three-way power enables module 901, three-way power reports an error, Three-way power voltage detection module 903, three-way power current detection module 904, three-way power temperature detecting module 905 and ARM- M0 is connected from controller 7.
The underwater robot control system of detection and operation is previously used for, wherein sensor assembly 16 includes inertial navigation mould Block 1601, sonar module 1602, depth gauge module 1603, navigation positioning module 1604；The inertial navigation module 1601 is real-time Robot attitude information, including roll angle, pitch angle, course angle are gathered, the sonar module 1602 gathers underwater structure letter Breath, the depth gauge module 1603 gathers robot depth information, when robot keeps afloat with navigation positioning module 1604 Definite and correction position, the depth gauge module 1603, navigation positioning module 1604, inertial navigation module 1601, sonar module 1602 are connected with ARM9 master controllers 6, and data are transmitted to ARM9 master controllers 6.
Compared with prior art, the beneficial effects of the invention are as follows：
1. the underwater robot for being used for detection and operation of the present invention develops a set of control system, which has more work( Energy, modular advantage, convenient installation and dismounting；Water surface console, which has the function of promptly to clap, to stop, and is equipped with the flat of wireless connection Plate computer, it is possible to achieve mobile monitors；Communication system supports 485, network service, I2C communications, differential video, CAN bus to pass It is defeated；
2. adaptive Unscented kalman filtering algorithm is dry in the external world for other filtering algorithms used by Disturb, the physical characteristic of acceleration and it is artificial the tracking filter effect in the case that factor influences such as to manipulate more preferable, on not knowing mould The robustness of type is preferable, and precision of state estimation is high；
3. multivariable of the present invention, multi-modal quick non-singular terminal sliding mode controller are the bases in existing algorithm Reformed AHP is carried out on plinth, first Application is in dynamic positioning system so that underwater robot energy within the scope of propeller thrust It is enough more quickly, smoothly to reach appointed place and suitably reduce close to target location near zone, thrust-compensating, So that underwater robot can carry out minor adjustments, it is ensured that positioning accuracy；
4. in six degree of freedom dynamic positioning, using the strategy positioned in order, i.e., according to first determining bow to repositioning is put, most The order for determining posture afterwards is sequentially completed whole alignment system.Power distribution more orderliness can so be made, avoid power distribution mixed Random situation.
Brief description of the drawings
Fig. 1 is robot system architecture's block diagram of the present invention；
Fig. 2 is robot water surface console structure diagram of the present invention；
Fig. 3 is robot water surface communication transceiver structure diagram of the present invention；
Fig. 4 is communication transceiver structure diagram under robot water of the present invention；
Fig. 5 is robot power supply module structure diagram of the present invention；
Fig. 6 is the algorithm flow chart of underwater robot dynamic positioning system of the present invention；
Fig. 7 is adaptive Unscented kalman filtering algorithm flow chart of the invention；
Fig. 8 is multivariable of the present invention, multi-modal quick non-singular terminal sliding mode control algorithm flow chart.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, it is used to detect the underwater robot control system with operation, including water surface control for a kind of of the present invention System processed, Subsea Control Systems, the water surface control system are placed on bank or lash ship, and Subsea Control Systems are installed on water In lower detection and Work robot；The water surface control system includes water surface console 1, surface communications transceiver 2, VR glasses 5, The water surface console 1 is connected with surface communications transceiver 2, and the surface communications transceiver 2 is connected with umbilical cables 3；The water Lower system includes subsurface communication transceiver 4, ARM9 master controllers 6, ARM-M0 and is examined from controller 7, underwater power module 8, power supply Survey module 9, leak water detdction module 10, No.1 low-tension supply 11,12, No. two low-tension supplies 13 of communication module, download mouth 14, holder Camera 15, sensor assembly 16, underwater lamp 17, manipulator 18, Powered Propulsion module 19.
Subsurface communication transceiver 4 is connected with umbilical cables 3 in Fig. 1, receives the control information from water surface control system, described ARM9 master controllers 6 are connected with subsurface communication transceiver 4, the underwater power module 8 and subsurface communication transceiver 4, ARM9 master Controller 6, ARM-M0 are from controller 7, power detecting module 9, leak water detdction module 10, No.1 low-tension supply 11, communication module 12nd, No. two low-tension supplies 13, cradle head camera 15, sensor assembly 16, underwater lamp 17, manipulator 18, propeller control module 19 are connected, and the underwater power module 8 is powered to Subsea Control Systems, and propeller control module 19 receives ARM-M0 from controller 7 speed and directional information, driving propeller rotation, underwater lamp 17 and manipulator 18 are received from ARM-M0 from controller 7 Signal, cradle head camera 15 directly receive the information of water surface console 1,9 He of power detecting module by subsurface communication transceiver 4 Leak water detdction module 10 detects robot internal environmental information and power information is sent to ARM-M0 from controller 7, and makees data Storage, 16 sampling depth of sensor assembly, navigation, posture, sonar data are transferred to ARM9 master controllers 6 and are controlled；It is described ARM9 master controllers 6 gather submarine system each unit data by ARM-M0 from controller 7, are sent out via subsurface communication transceiver 4 It is sent to water surface control system.
As shown in Fig. 2, water surface console 1 include water surface control computer 102, it is urgent clap guard's valve 103, manipulate rocking bar 104, Keyboard and mouse 105, liquid crystal display 106, tablet computer 107.Water surface control computer 102 loads upper computer software, and software uses VB is developed；Urgent guard's valve 103 of clapping is connected with water surface control computer 102, in case of emergency only needs to take this switch, is System shuts off power supply, stops control；Manipulate rocking bar 104 and keyboard and mouse 105 is inserted on water surface control computer 102, to manipulate Robot advance, retrogressing, rotation, floating, dive etc. are moved, and input control information；In 106 real-time display of liquid crystal display Position machine software interface, tablet computer 107 control computer 102 to be connected by wireless WiFi with the water surface, can be with mobile access robot Information, aids in other staff's observer robot operation；Water surface control computer 102 is connected with surface communications transceiver 2, carries out data Transmitting-receiving.
As shown in figure 3, surface communications transceiver 2 includes 202, No. two surface communications interface 201, No.1 network interface network interfaces 203. No.1 network interface 202 is connected with surface communications interface 201, transmits principal communication signal, No. two network interfaces 203 and surface communications interface 201 It is connected, transmits cradle head camera signal, realizes that an interface transmits two kinds of signals, convenient installation and plug, last surface communications Interface 201 is connected with umbilical cables 3.
As shown in figure 4, subsurface communication transceiver 2 includes 402, No. two surface communications interface 401, No.1 network interface network interfaces 403. Umbilical cables 3 are connected with surface communications interface 401, and 402 left end of No.1 network interface is connected with surface communications interface 401, right end and ARM9 Master controller 6 is connected, and transmits principal communication signal, and No. two network interfaces 403 are connected with left end surface communications interface 401, right end and holder Camera 15 is connected, and transmits cradle head camera signal.
As shown in figure 5, underwater power module 8 includes 400V/5250W DC power supplies 801,400VDC turns 48VDC/1750W Module 802,400VDC turn 48VDC/1750W modules 803,400VDC turns 48VDC/1750W modules 804,48V turns 12V modules 805th, 12V turns 5V modules 806,12V turns 5V modules 807,5V turns 3.3V modules 808,5V turns 3.3V modules 809.Underwater power mould 801 Fen Wei of 400V DC power supplies, tri- tunnels that block 8 exports umbilical cables, 400VDC turn 48VDC/1750W modules 802 to left longitudinal direction electricity Machine 1908, right longitudinal motor 1909 are powered, and 400VDC turns 48VDC/1750W modules 803 to left vertical motor 1910, right vertical electricity Machine 1911 is powered, and 400VDC turns 48VDC/1750W modules 804 to lateral motor 1912, cradle head camera 15, underwater lamp 17, machine Tool hand 18 and low-power device power supply, turn 12V modules 805 to sonar 1602, depth gauge module 1603, navigator fix by 48V Module 1603 is powered, then turns 5V modules 806 by 12V and 12V turns 5V modules 807 and received and dispatched to ARM9 master controllers 6, surface communications Device 2, subsurface communication transceiver 4, inertial navigation module 1601 are powered, then turn 3.3V modules 808 by 5V, 5V turns 3.3V modules 809 power to ARM-M0 from controller 7, leak water detdction module 10.
It is that a kind of of the present invention is used to detect the algorithm stream with the underwater robot dynamic positioning system of operation as shown in Figure 6 Cheng Tu, comprises the following steps that：
Step 1：In the case where there are environmental disturbances, the position of dynamic positioning underwater robot is gathered by sensing system Put with bow to information.The dynamics and kinematics that underwater robot moves can be taken out to information by these positions and bow The kinematics model of process, wherein underwater robot is：
In formula,For position of the underwater robot relative to fixed coordinate system and attitude angle, whereinFor roll angle, θ is pitch angle, and ψ is course angle；V=[u v w p q r]T, be underwater robot in hull coordinate system Linear velocity and angular speed, wherein u, v, w are respectively x, y, the linear velocity of z coordinate direction of principal axis, p, q, r x, y, z coordinate direction of principal axis Angular speed；J (η) is coordinate conversion matrix；M is underwater robot inertial matrix, M ∈ R6×6；C (v)=CRB+CA, it is underwater machine The coriolis force and centripetal force matrix of device people's additional mass, CRBFor the coriolis force of underwater robot additional mass, CAFor underwater People's centripetal force matrix, C (v) ∈ R6×6；D(vξ) it is underwater robot fluid resistance matrix, D (vξ)∈R6×6；vξ=v-vdTo remove The speed of underwater robot during environmental disturbances power；The restoring force matrix that g (η) is made of gravity and buoyancy, g (η) ∈ R6×1；τ is The thrust that underwater robot propeller provides, τ ∈ R6×1；ξ is environmental disturbances power, such as current, wave, ξ ∈ R6×1。
The Controlling model of formula (1) underwater robot is arranged and is transformed to：
Because adaptive Unscented kalman filtering algorithm is based on following nonlinear discrete state-space model：
In formula, k represents system discrete sampling time point, k >=0；xk|k-1=[η v]TFor the system estimation state at k moment Amount；fk(xk-1|k-2)=[J (η) v-M-1CRBv-M-1CAvξ-M-1Dvξ-M-1g]T, fk(xk-1|k-2) it is xk-1To xkA step transfer square Battle array；B=[06×6 M-1]TFor coefficient matrix；u∈R6×1It is propeller thrust；wkFor system incentive Gaussian sequence；hkFor Measurement matrix, the mathematical relationship between reacting dose measurement and estimator；vkFor measuring value Gaussian sequence；ykFor the k moment Sensor measuring value.
Step 2：As shown in fig. 7, the flow chart for adaptive Unscented kalman filtering algorithm.One kind application and underwater The adaptive Unscented kalman filtering method of people's dynamic positioning, it is characterised in that：The adaptive Unscented kalman filtering shape State observer is realized by following design procedure：
3) state primary condition is
Wherein, x0For state initial value；For x0Average；P0To predict covariance initial value；It is initial for system noise Value.
2) forecast updating
For what is givenAnd Pk-1|k-1, according to formula (7)-(13) status predication is sought with UT methodsWith
Step 1. calculates Sigma points
Wherein, χk-1For the Sigma points at k-1 moment；For the state value at k-1 moment；Pk-1|k-1It is pre- for the k-1 moment Survey covariance；N is that λ is proportionality coefficient more than 1 positive integer.
Step 2. forecast updating
χk|k-1=f (χk-1) (8)
Wherein, f (χk-1) it is χk-1To χkMatrix of shifting of a step；WithFor average and the weighted value of covariance； For the system noise at k-1 moment；h(χi,k|k-1) it is measurement matrix.
Predict that covariance is：
3) diverging judges
By formulaJudge whether to dissipate, such as diverging corrects P according to formula (14)-(16)k|k-1, no Diverging then enters in next step, whereinFor residual sequence.
4) renewal is measured
According to formula (17)-(19), try to achieve and measure variance Pyy,PxyWith filtering gain Kk
5) recurrence estimation system noise statistical property
Wherein, dk-1=(1-b)/(1-bk), j=0,1 ..., k-1, b become forgetting factor, the scope of usual b
6) the measurement updated value for finally obtaining current underwater robot isAnd Pk|k：
Step 3：As shown in figure 8, it is multivariable, the flow chart of multi-modal quick non-singular terminal sliding mode control algorithm.It is non- Unusual TSM control device according to the position of current underwater robot and bow to the position and bow of estimate and sets target to Value is contrasted to obtain position error, obtains power compensation value.
DefinitionIt is equal with η, is the real-time position of robot and posture, thenRepresent linear velocity and Angular speed,Represent linear acceleration and angular acceleration, make nd(constant) is positioning target, then position error is expressed as ne=n- nd.Algorithm realizes that target to find appropriate control law, enables the position n of underwater robot to reach desired value n as soon as possibled, i.e., neZero is rapidly converged in finite time.
Define computing
Wherein, sign is sign function, x1,…x6For each state variable, γ1,…γ6For state variable coefficient.
Then the FNTSMC designs of this algorithm are as follows
S is sliding-mode surface, in order to make the speed at tie point continuous, i.e. neDuring=εIt is equal, so having
In formula, ε=diag { ε1,···ε6, β=diag { β1,···β6, βi∈R+, s=[s1,…,s6]T,
pi,qi∈N+, i=1,2,6 and 1 ＜ pi/qi＜ 2.
Using following terminal attractors as tendency rate：
Wherein,
k1=diag (k11,…,k16),k2=diag (k21,…,k26), k1i,k2i∈R+, i=1,2,6
Although formula has used absolute value sign and sign function in (24), it is still that can continuously lead, its single order is led Number can represent as follows：
Wherein, I ∈ R6×6, i=1,2,6,
It can be obtained by formula (23)~(27), for the non-linear dynamic model formula (1) of ROV, if variable FNTSM chooses Formula (24), tendency rate chooses formula (26), using following control rate：
U=u1+u2 (30)
Wherein, work as to mitigate | ne| during ＞ ε, the chatter phenomenon in SMC, SMC is substituted using saturation function sat (s/ Δs) In exponential approach rate sign function sig (s), and take boundary layer Δ=0.01, α=diag { β1,···β6, αi∈R+。
In addition to the implementation, the present invention can also have other embodiment, all to use equivalent substitution or equivalent transformation shape Into technical solution, all fall within the protection domain of application claims.

Claims (5)

1. a kind of be used to detect the underwater robot control system with operation, it is characterised in that including water surface control system, under water Control system, the water surface control system are placed on bank or lash ship, and Subsea Control Systems installation is detected and made under water In industry robot；The water surface control system includes water surface console, surface communications transceiver, umbilical cables, VR glasses, the water Face console is connected with surface communications transceiver, and the VR glasses are connected with water surface console, the surface communications transceiver with Umbilical cables are connected；The submarine system includes subsurface communication transceiver, ARM9 master controllers, ARM-M0 and is supplied from controller, under water Electric module, power safety detection module, leak water detdction module, No.1 low-tension supply, communication module, No. two low-tension supplies, download Mouth, cradle head camera, sensor assembly, underwater lamp, manipulator, propeller control module；The subsurface communication transceiver and navel Band cable is connected, and receives the control information from water surface control system, and the ARM9 master controllers are connected with subsurface communication transceiver, The underwater power module detects mould with subsurface communication transceiver, ARM9 master controllers, ARM-M0 from controller, power safety It is block, leak water detdction module, No.1 low-tension supply, communication module, No. two low-tension supplies, cradle head camera, sensor assembly, underwater Lamp, manipulator, Powered Propulsion module are connected, and the underwater power module is powered to Subsea Control Systems, propeller control module Speed and directional information of the ARM-M0 from controller, driving propeller rotation are received, underwater lamp and manipulator receive and come from ARM- For M0 from the signal of controller, cradle head camera directly passes through the information that subsurface communication transceiver receives water surface console, power supply inspection Survey module and leak water detdction module detection robot internal environmental information and power information is sent to ARM-M0 from controller, and make Data store, and sensor assembly sampling depth, navigation, posture, sonar data are transferred to ARM9 master controllers and are controlled；It is described ARM9 master controllers gather submarine system each unit data by ARM-M0 from controller, are sent to via subsurface communication transceiver Water surface control system.
2. according to claim 1 be used to detect the underwater robot control system with operation, it is characterised in that the water Face console includes industrial personal computer, liquid crystal display, Arduino platforms, knob, emergency stop switch, manipulation rocking bar, indicator light；The emergency stop Switch is connected by Arduino platforms with industrial personal computer, in case of emergency presses emergency stop switch, and system shutdown power supply stops control System；Manipulate rocking bar by Arduino platforms with industrial personal computer to be connected, the people that operates machine advance, retrogressing, rotation, floating, dive, horizontal stroke Move, tumbling action, the knob, indicator light are connected by Arduino platforms with industrial personal computer, input, output control information；Liquid crystal The upper computer software interface that screen real-time display is installed on industrial personal computer, tablet computer are mobile to visit by wireless communication and industrial personal computer Ask robot control information, aid in non-operator decision-making；Industrial personal computer is connected with surface communications transceiver, carries out data transmit-receive.
3. according to claim 1 be used to detect the underwater robot control system with operation, it is characterised in that described dynamic Power propulsion die includes I2C communication modules, write motor speed module, read motor speed module, read electric moter voltage module, read motor Current module, reading motor temperature module, motor drive module, left longitudinal motor, right longitudinal motor, left vertical motor, the right side are vertical Motor, lateral motor；It is described to write motor speed module, read motor speed module, read electric moter voltage module, read current of electric mould Block, reading motor temperature module pass through I2C communication modules communicate with ARM-M0 from controller；What the ARM-M0 was sent from controller Speed signal PWM and direction signal DIR controls motor drive module by writing motor speed module, so as to control left longitudinal direction electricity Machine, right longitudinal motor, left vertical motor, right vertical motor, lateral motor carry out forward-reverse, steering, floating dive, it is traversing, The movement of 5 frees degree of roll.
4. according to claim 1 be used to detect the underwater robot control system with operation, it is characterised in that the electricity Source safety detection module enables module including three-way power, three-way power reports an error module, three-way power voltage detection module, three tunnels Source current detection module, three-way power temperature detecting module, module that the three-way power enables module, three-way power reports an error, Three-way power voltage detection module, three-way power current detection module, three-way power temperature detecting module and ARM-M0 are from control Device is connected.
5. according to claim 1 be used to detect the underwater robot control system with operation, it is characterised in that the biography Sensor module includes inertial navigation module, sonar module, depth gauge module, navigation positioning module；The inertial navigation module is real When gather robot attitude information, including roll angle, pitch angle, course angle, the sonar module gathers underwater structure information, Depth gauge module collection robot depth information, is determined and correction bit when robot keeps afloat with navigation positioning module Put, the depth gauge module, navigation positioning module, inertial navigation module, sonar module are connected with ARM9 master controllers, by data It is transmitted to ARM9 master controllers.
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