CN109533233B - Self-adaptive control method of underwater robot propeller - Google Patents

Self-adaptive control method of underwater robot propeller Download PDF

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CN109533233B
CN109533233B CN201811373048.1A CN201811373048A CN109533233B CN 109533233 B CN109533233 B CN 109533233B CN 201811373048 A CN201811373048 A CN 201811373048A CN 109533233 B CN109533233 B CN 109533233B
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propeller
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instruction
influence coefficient
pwm
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CN109533233A (en
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张川
杨艳彬
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Hunan Hagong Xingdian gathering Intelligent Technology Co.,Ltd.
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Harbin Institute Of Technology Robot (yueyang) Military And Civilian Integration Research Institute
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles

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  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
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  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract

The invention relates to a self-adaptive control method of a propeller of an underwater robot, which comprises the following steps: the propeller is rotatably arranged on the robot body; the method comprises the steps that a power control unit is adopted to receive an attitude motion command of an ROV, and a propeller is controlled to rotate in a corresponding direction and angle according to the attitude motion command; and then, calculating based on the attitude motion instruction to obtain a control instruction of the propeller, thereby realizing the self-adaptive control of the propeller. The invention can make a propeller provide driving force of various motion postures according to the requirement, and can exert the utilization rate of the propeller to the maximum extent under the condition of limited propeller resources.

Description

Self-adaptive control method of underwater robot propeller
Technical Field
The invention relates to the technical field of power control of underwater robots, in particular to a self-adaptive control method of a propeller of an underwater robot.
Background
Currently, underwater Robots (ROVs) are widely used in the fields of underwater observation, rescue, fishery, engineering maintenance and the like. As a movement core, the power control of the conventional ROV system basically realizes corresponding movement based on a fixed propeller, for example, the horizontal forward and backward movement is realized by a horizontally arranged propeller, and at this time, a vertical propeller cannot play a role; this results in the vertical thruster falling into a pendulum arrangement when the ROV moves horizontally; similarly, the horizontal thruster does not function when the vertical thruster moves in the vertical direction. That is, the functions of the horizontal propeller and the vertical propeller cannot be mutually converted, which causes waste of power resources and cannot exert the effects of all the propellers to the maximum extent.
Therefore, in order to overcome the above disadvantages, it is necessary to provide a control method, so that the same thruster can adaptively drive the ROV in different movement directions, thereby improving the utilization rate of the thruster.
Disclosure of Invention
The invention aims to solve the technical problem of providing a self-adaptive control method of a propeller of an underwater robot, aiming at the defect that the propeller is required to be fixedly configured for the movement of an ROV in different directions in the prior art, so that the utilization rate of the propeller is low.
In order to solve the technical problem, the invention provides an adaptive control method of an underwater robot propeller, which comprises the following steps:
the propeller is rotatably arranged on the robot body;
the method comprises the steps that a power control unit is adopted to receive an attitude motion command of an ROV, and a propeller is controlled to rotate in a corresponding direction and angle according to the attitude motion command; and then, calculating based on the attitude motion instruction to obtain a control instruction of the propeller, thereby realizing the self-adaptive control of the propeller.
In the adaptive control method of the underwater robot propeller according to the present invention,
the step of controlling the propeller to rotate in the corresponding direction and angle according to the attitude motion instruction comprises the step of rotating a controller from the current position to a target position according to the attitude motion instruction;
the attitude motion comprises rolling motion, pitching motion, yawing motion, floating and diving motion, forward and backward motion and transverse motion.
In the adaptive control method of the underwater robot propeller according to the present invention, the obtaining of the control command for the propeller includes obtaining a motion influence coefficient matrix of the propeller by performing a judgment based on a target azimuth of the propeller.
In the adaptive control method of the underwater robot propeller according to the present invention, a motion influence coefficient matrix motor _ param of the propeller is:
Figure GDA0002583016170000021
wherein r is a rolling influence coefficient, p is a pitching influence coefficient, y is a yawing influence coefficient, t is a floating and diving influence coefficient, f is a forward and backward movement influence coefficient, and l is a transverse movement influence coefficient; wherein the serial number 1, 2, 3, … …, n represents the sequence number of the controlled propeller;
the values of the influence coefficients in the motion influence coefficient matrix are all-1, 0 or 1, wherein-1 represents reverse rotation, 0 represents no influence, and 1 represents forward rotation.
In the self-adaptive control method of the underwater robot propeller, three propellers are taken as an example, a first propeller and a second propeller are arranged in parallel along the horizontal direction at the current positions and influence the advancing and retreating and the yawing motion, the first propeller is a positive propeller, and the second propeller is a negative propeller; the current position of the third propeller is on the central symmetry line between the first propeller and the second propeller, the floating and submerging motions are influenced, and the current motion influence coefficient matrix of the three propellers is as follows:
Figure GDA0002583016170000031
if the third propeller is rotated to a target position, the target position is consistent with the directions of the first propeller and the second propeller, and the motion influence coefficient matrix of the three propellers is as follows:
Figure GDA0002583016170000032
in the adaptive control method of a propeller of an underwater robot according to the present invention, the obtaining of the control command for the propeller further includes: and obtaining a PWM control value of the propeller.
In the adaptive control method of the underwater robot propeller according to the present invention, the PWM control value for the propeller is calculated by:
setting the gesture motion command of the user as input _ in,
Figure GDA0002583016170000033
in the formula, roll _ in is a rolling motion instruction, pitch _ in is a pitching motion instruction, yaw _ in is a yawing motion instruction, pitch _ in is a floating-diving motion instruction, forward _ in is a forward-backward motion instruction, and lateralin is a transverse motion instruction;
input _ in is a 6 x 1 matrix, and element intervals are [ -1,1 ];
blade type parameter matrix motor _ reverse ═ λ1λ2...λn]Wherein the value of the lambda element of the blade type parameter is-1 or 1; -1 represents a counter blade, and 1 represents a positive blade;
the signal adjustment coefficient of the PWM control value, threshold _ out _ calc, is:
thrust_out_calc＝motor_reverse.*(motor_param*input_in)T；
and then obtaining the PWM control value PWM _ value as:
Figure GDA0002583016170000041
in the formula, PWM _ max is the maximum value of the PWM control value, PWM _ min is the minimum value of the PWM control value, and the propeller influence parameter, thurst _ out, is:
Figure GDA0002583016170000042
in the adaptive control method of the underwater robot propeller according to the present invention, the propeller is connected to the robot body through a rotation shaft.
In the self-adaptive control method of the underwater robot propeller, the rotating shaft is driven to rotate by an output shaft of the motor, and the power control unit calculates according to the attitude motion command of the ROV to obtain the control command of the motor.
The self-adaptive control method of the underwater robot propeller has the following beneficial effects: the method is implemented based on the rotatable connection of the propeller to be controlled and the robot body, the propeller is used as a control object, and the connection direction of the propeller and the robot body is adjusted on the basis of obtaining the current posture motion requirement of the robot, so that the propeller can self-adaptively provide the driving force in the current required direction for the robot.
The invention changes the current situation that the propeller on the existing robot body is fixed for providing driving force in a certain direction, and can adaptively adjust the arrangement direction of the propeller according to the control requirement of attitude motion so as to provide driving force for the current motion. The method of the invention can ensure that one propeller provides driving force of a plurality of motion postures according to the requirement, can exert the utilization rate of the propeller to the maximum extent under the condition of limited resources of the propeller, and ensures the full use of power resources.
Drawings
Fig. 1 is an exemplary block diagram of an adaptive control method of an underwater robotic propeller according to the present invention;
FIG. 2 is an exemplary orientation diagram illustrating three pushers;
FIG. 3 is an exemplary azimuth view of three propellers obtained by rotating a propeller III based on FIG. 2;
fig. 4 is an exemplary orientation diagram of three propellers in a tumbling embodiment of the disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention provides a self-adaptive control method of a propeller of an underwater robot, which is shown in a combined figure 1 and comprises the following steps:
the propeller is rotatably arranged on the robot body;
firstly, a control terminal sends an attitude motion instruction to a power control unit of a robot body, the power control unit is adopted to receive the attitude motion instruction of an ROV (remote operated vehicle), and firstly, a propeller is controlled to rotate in a corresponding direction and angle according to the attitude motion instruction; and then, calculating based on the attitude motion instruction to obtain a control instruction of the propeller, thereby realizing the self-adaptive control of the propeller.
In the embodiment, after the power control unit receives the attitude motion instruction, the control instruction of the propeller is obtained through calculation, so that the attitude motion of the robot in water is realized.
When the power resource of the use scene is limited, the driving force can be provided for any posture movement of the robot by controlling the installation direction of the propeller. Supposing that only one propeller is arranged on the robot body, after the propeller is adjusted in direction theoretically, the robot can move for six postures: any one of the rolling motion, the pitching motion, the yawing motion, the submerging motion, the advancing and retreating motion and the traversing motion provides a driving force. The mode greatly improves the utilization rate of the propeller, and the propeller can not be laid under the requirement of any posture movement, so that power resources are used to the maximum extent.
Further, the step of controlling the propeller to rotate in the corresponding direction and angle according to the attitude motion instruction comprises the step of rotating the controller from the current position to a target position according to the attitude motion instruction;
the attitude motion comprises rolling motion, pitching motion, yawing motion, floating and diving motion, forward and backward motion and transverse motion.
For example, as shown in fig. 2 and 3, in fig. 2, the third thruster 3 is used to provide driving force for the floating and diving movement, and if the current attitude movement command is forward and backward movement, the third thruster 3 can be rotated to the orientation shown in fig. 3, and provides driving force for forward and backward movement together with the first thruster 1 and the second thruster 2. Other forms of movement adjust the orientation of the propeller similarly.
Further, in order to calculate the PWM control value for the propeller, it is necessary to first determine a motion influence coefficient matrix of the propeller:
the obtaining of the control instruction for the propeller includes judging based on a target orientation of the propeller to obtain a motion influence coefficient matrix of the propeller.
The embodiment can be used for controlling one propeller, and can also be applied to controlling a plurality of propellers simultaneously, and the control situation of the plurality of propellers can obtain the final PWM control values of different propellers simultaneously by the following calculation method of the PWM control values.
Further, the motion influence coefficient matrix motor _ param of the thruster is:
Figure GDA0002583016170000071
wherein r is a rolling influence coefficient, p is a pitching influence coefficient, y is a yawing influence coefficient, t is a floating and diving influence coefficient, f is a forward and backward movement influence coefficient, and l is a transverse movement influence coefficient; wherein the serial number 1, 2, 3, … …, n represents the sequence number of the controlled propeller;
the values of the influence coefficients in the motion influence coefficient matrix are all-1, 0 or 1, wherein-1 represents reverse rotation, 0 represents no influence, and 1 represents forward rotation.
The motion influence coefficient matrix motor _ param is an n x 6 matrix, and n represents the number of propellers.
The value of the motion influence coefficient depends on the initial layout of the propeller on the structure of the robot body, and the motion influence coefficient matrix reflects the influence of the target placing direction of the propeller on the motion postures of all directions. The introduction of the motion influence coefficient matrix realizes the rotation control of the single propeller in the moving directions of advancing and retreating, floating and sinking, pitching and the like under water.
In the embodiment, the corresponding motion influence coefficient can be modified according to the driving mode of the actual propeller, and the vertical propeller can be converted into the horizontal propeller for use, so that the motion power in the horizontal direction is increased; the same applies to the case of a horizontal thruster converted into a vertical thruster.
Still further, with reference to fig. 2 and fig. 3, the value taking method for the motion influence coefficient is further described:
in fig. 2, three propellers are taken as an example, a first propeller and a second propeller are arranged in parallel along the horizontal direction, and affect the advance and retreat and the yaw movement, wherein the first propeller is a positive propeller, and the second propeller is a negative propeller; the current position of the third propeller is on the central symmetry line between the first propeller and the second propeller, the floating and submerging motions are influenced, and the current motion influence coefficient matrix of the three propellers is as follows:
Figure GDA0002583016170000081
if the third propeller is rotated to a target position, the target position is consistent with the directions of the first propeller and the second propeller, as shown in fig. 3, the motion influence coefficient matrix of the three propellers is as follows:
Figure GDA0002583016170000082
therefore, the third propeller is converted into the horizontal propeller after rotating, and the horizontal moving power can be increased together with the first propeller and the second propeller.
In fig. 3, the center line of the third propeller is on the central vertical plane of the underwater robot, so that the third propeller does not contribute to yaw movement, but only contributes to forward and backward movement. After the corresponding motion influence coefficient is changed, when forward _ in is input in a forward and backward mode, the third propeller also starts to rotate to provide power.
Still further, the obtaining a control instruction for the propeller further comprises: and obtaining a PWM control value of the propeller. After determining the motion influence coefficient matrix of the propeller, the PWM control value of the propeller may be further calculated.
As an example, the PWM control value for the thruster is calculated by:
setting the gesture motion command of the user as input _ in,
Figure GDA0002583016170000091
in the formula, roll _ in is a rolling motion instruction, pitch _ in is a pitching motion instruction, yaw _ in is a yawing motion instruction, pitch _ in is a floating-diving motion instruction, forward _ in is a forward-backward motion instruction, and lateralin is a transverse motion instruction;
wherein input _ in is a 6 x 1 matrix, and the element interval is [ -1,1 ];
because the propeller has a positive propeller and a negative propeller, a blade type parameter matrix is introducedmotor_reverse＝[λ1λ2...λn]Wherein the value of the lambda element of the blade type parameter is-1 or 1; -1 represents a counter-blade, 1 represents a positive blade; the paddle type parameter matrix is a 1 x n matrix;
the signal adjustment coefficient of the PWM control value, threshold _ out _ calc, is:
thrust_out_calc＝motor_reverse.*(motor_param*input_in)T；
and then obtaining the PWM control value PWM _ value as:
Figure GDA0002583016170000092
in the formula, PWM _ max is the maximum value of the PWM control value, PWM _ min is the minimum value of the PWM control value, and the expression of the propeller influence parameter, thust _ out, is:
Figure GDA0002583016170000093
considering that the PWM control value of the propeller should be within the operating range [ PWM _ min, PWM _ max ], the threshold _ out value is controlled to have an interval of [ -1,1 ].
The final form of the PWM control value PWM _ value is [ PWM1,pwm2,···,pwmn]1 × n matrix, pwmnRepresents the pwm output value of the n-th propeller.
As an example, in connection with the three propeller frames shown in fig. 2, motor _ reverse [ -111 ].
The following illustrates the calculation process of the PWM control value PWM _ value:
suppose that input _ in is [ 000010 ═ 000010]T，motor_reverse＝[1 -1 1]Pwm _ max is 1900 and pwm _ min is 1100; the propeller rotates in two directions, rotates forwards at the minimum value and rotates backwards at the maximum value. Then for the illustration of fig. 2, the threshold _ out _ calc is 1-10](ii) a Then there are:
Figure GDA0002583016170000101
for the illustration of fig. 3, there are:
Figure GDA0002583016170000102
in fig. 3, the third propeller finally generates a resultant force in the forward and backward directions with the first propeller and the second propeller to push the robot to move.
The following describes an embodiment of the present disclosure in which the impeller performs a tumbling motion:
fig. 4 shows an initial layout of three propellers, after the first propeller 1 and the second propeller 2 are rotated to be horizontal propellers, the robot can generate rolling motion; the first propeller 1 is a positive propeller, and the second propeller 2 is a negative propeller; motion influence coefficient matrix motor of three propellers after rotationparamComprises the following steps:
Figure GDA0002583016170000103
the third propeller 3, the first propeller 1 and the second propeller 2 are not on the same straight line and are located on the horizontal central line of the robot body, so that the third propeller 3 has no influence on the rolling motion.
When input _ in is [ 100010 ═ d]TIn time, there are roll and advance and retreat inputs, the calculation yields:
thrust_out_calc＝[-1 -1 0]，
motor_reverse＝[1 -1 1]，
Figure GDA0002583016170000111
at the moment, the first propeller 1 and the second propeller 2 generate opposite thrust, so that the robot generates torque and rolls.
As an example, the propeller is connected to the robot body through a rotation shaft. In order to achieve adaptive control of the propeller, it is necessary that the propeller can meet the requirement of rotating in any direction. For example, the propeller may be connected to the robot body by a universal joint.
And further, the rotating shaft is driven to rotate through an output shaft of the motor, and the power control unit calculates according to the attitude motion instruction of the ROV to obtain a control instruction of the motor. The method comprises the steps of judging the direction and the angle of a target propeller to be rotated according to the propeller azimuth setting required by an attitude motion instruction, outputting a control instruction to a motor according to the direction and the angle, and enabling the motor to drive the target propeller to rotate to the target azimuth. For the rotation of the propeller to the target direction, the propeller can be driven by an output shaft of the motor, for example, a stepping motor is adopted, and the motor is controlled according to the rotation angle.
In conclusion, the method can calculate the PWM value for driving and controlling the propeller by controlling the rotation of the propeller and combining the change of each influence coefficient caused by the rotation of the propeller; the method realizes accurate calculation of the output control value under the condition of instant configuration of the driving directions of all the propellers, and is favorable for improving the working efficiency of the propellers.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (3)

1. An adaptive control method of a propeller of an underwater robot, characterized by comprising:
the propeller is rotatably arranged on the robot body;
the method comprises the steps that a power control unit is adopted to receive an attitude motion command of an ROV, and a propeller is controlled to rotate in a corresponding direction and angle according to the attitude motion command; then, calculating based on the attitude motion instruction to obtain a control instruction of the propeller, thereby realizing self-adaptive control of the propeller;
the step of controlling the propeller to rotate in the corresponding direction and angle according to the attitude motion instruction comprises the step of rotating a controller from the current position to a target position according to the attitude motion instruction;
the attitude motion comprises rolling motion, pitching motion, yawing motion, floating and diving motion, forward and backward motion and transverse motion;
the step of obtaining the control instruction of the propeller comprises the steps of judging based on the target position of the propeller and obtaining a motion influence coefficient matrix of the propeller;
the motion influence coefficient matrix motor _ param of the thruster is as follows:
Figure FDA0002583016160000011
wherein r is a rolling influence coefficient, p is a pitching influence coefficient, y is a yawing influence coefficient, t is a floating and diving influence coefficient, f is a forward and backward movement influence coefficient, and l is a transverse movement influence coefficient; wherein the serial number 1, 2, 3, … …, n represents the sequence number of the controlled propeller;
the values of the influence coefficients in the motion influence coefficient matrix are all-1, 0 or 1, wherein-1 represents reverse rotation, 0 represents no influence, and 1 represents forward rotation;
the obtaining of the control instruction for the thruster further comprises: obtaining a PWM control value of the propeller;
the PWM control value of the propeller is obtained by calculation through the following method:
setting the gesture motion command of the user as input _ in,
Figure FDA0002583016160000021
in the formula, roll _ in is a rolling motion instruction, pitch _ in is a pitching motion instruction, yaw _ in is a yawing motion instruction, pitch _ in is a floating-diving motion instruction, forward _ in is a forward-backward motion instruction, and lateralin is a transverse motion instruction;
input _ in is a 6 x 1 matrix, and element intervals are [ -1,1 ];
blade type parameterMatrix motor _ reverse ═ λ1λ2... λn]Wherein the value of the lambda element of the blade type parameter is-1 or 1; -1 represents a counter-blade, 1 represents a positive blade;
the signal adjustment coefficient of the PWM control value, threshold _ out _ calc, is:
thrust_out_calc＝motor_reverse.*(motor_param*input_in)T；
and then obtaining the PWM control value PWM _ value as:
Figure FDA0002583016160000022
in the formula, PWM _ max is the maximum value of the PWM control value, PWM _ min is the minimum value of the PWM control value, and the propeller influence parameter, thurst _ out, is:
Figure FDA0002583016160000023
2. an adaptive control method of a subsea robot propeller as claimed in claim 1, characterized in that:
the propeller is connected with the robot body through a rotating shaft.
3. An adaptive control method of a subsea robot propeller as claimed in claim 2, characterized in that: the rotating shaft is driven to rotate through an output shaft of the motor, and the power control unit calculates according to the attitude motion instruction of the ROV to obtain a control instruction of the motor.
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