CN110308734A - Underwater robot boat state adjusts liquid tank system and underwater robot and control method - Google Patents
Underwater robot boat state adjusts liquid tank system and underwater robot and control method Download PDFInfo
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- CN110308734A CN110308734A CN201910559841.9A CN201910559841A CN110308734A CN 110308734 A CN110308734 A CN 110308734A CN 201910559841 A CN201910559841 A CN 201910559841A CN 110308734 A CN110308734 A CN 110308734A
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- 239000007788 liquid Substances 0.000 title claims abstract description 145
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000012530 fluid Substances 0.000 claims abstract description 69
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000009415 formwork Methods 0.000 claims description 5
- 239000011435 rock Substances 0.000 claims description 3
- 230000000386 athletic effect Effects 0.000 abstract description 3
- 230000000087 stabilizing effect Effects 0.000 abstract description 3
- 239000013535 sea water Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012279 drainage procedure Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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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
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
-
- 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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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention is to provide a kind of underwater robot boat states to adjust liquid tank system and underwater robot and control method.It includes liquid tank shell that state of navigating, which adjusts liquid tank system, it is semiorbicular carrier fluid cabin in liquid tank outer casing bottom setting section, left side cabin air valve and the right cabin air valve is respectively set in two upper end surfaces in carrier fluid cabin, kingston valve is arranged in the bottom in carrier fluid cabin, two control gas circuits in parallel are set between two wing tank air valves, one control gas circuit is connected with high pressure gas cylinder, another is connected with the external world, carrier fluid cabin contained liquid and the gas chamber for forming compressible gas, it is connected between two upper surfaces in carrier fluid cabin by tank roof gas passage, air flue control valve is set on tank roof gas passage.Underwater robot includes single liquid tank scheme and biliquid cabin scheme.Control method includes the control of approximately level floading condition and gesture stability.The present invention has stronger athletic posture stabilizing power, degree of precision floading condition control ability, stronger environment self-adaption ability.
Description
Technical field
The present invention relates to a kind of boat state regulating devices of underwater robot, and the present invention also relates to one kind with boat state tune
The underwater robot of regulating device, the invention further relates to a kind of control methods of underwater robot with boat state regulating device.
Background technique
Underwater robot of the present invention is that one kind can dive beneath the water for a long time, carries the energy, self-propelled, remote control or autonomous
Control executes job task, the latent device that can be recycled and recycle by configuration task load.The tremendous economic that ocean is contained
Potentiality have been subjected to the wide hair concern of countries in the world.With the exploitation of marine resources and its continuous expansion of application field, for
The technical research of underwater unmanned vehicle has obtained tremendous development.The item that can be intervened in nobody or few people due to underwater robot
Complete task under part in complicated marine environment, concealment and economy with higher, thus it is using very extensive.It removes
Tasks, certain underwater robots with features demand such as execution underwater navigation, operation it is also often desirable in approximately level
Carry out observation, to sky or to work such as the load dispensings in sea.
Underwater robot navigates by water in approximately level, operation when due to by the environmental disturbances such as ocean current wave influenced to generate compared with
Big heave movement, the serious posture balancing for destroying underwater robot.It needs to be taken when underwater robot carries out water surface operation
Precision optics, the electronic instrument of band stretch out the water surface, and violent waving will seriously affect optical device imaging, the receipts of electronic signal
Hair causes observing effect to reduce and even directly results in mission failure.Load is launched work and is also needed with underwater robot posture
It keeps premised on stablizing, can use underwater robot, delivery device smoothly achieves dispensing or load is steadily sailed out of.
Summary of the invention
An object of the present invention be to provide a kind of athletic posture stabilizing power is strong, floading condition control ability precisely, environment from
The good underwater robot boat state of adaptability adjusts liquid tank system.It is a kind of based on water of the invention the second object of the present invention is to provide
Lower robot boat state adjusts liquid tank system and obtains underwater robot.The second object of the present invention is to provide a kind of control of underwater robot
Method processed.
The object of the present invention is achieved like this:
Underwater robot boat state of the invention adjusts liquid tank system, including liquid tank shell, cuts in the setting of liquid tank outer casing bottom
Face is semiorbicular carrier fluid cabin, and left side cabin air valve and the right cabin air valve, carrier fluid cabin is respectively set in two upper end surfaces in carrier fluid cabin
Bottom be arranged kingston valve, between left side cabin air valve and the right cabin air valve be arranged two control gas circuits in parallel, a control gas
Road is connected with high pressure gas cylinder, and another control gas circuit is connected with the external world, the nightside and carrier fluid of carrier fluid cabin contained liquid and liquid
The gas chamber of compressible gas is respectively formed between two upper surfaces in cabin, by tank roof gas between two upper surfaces in carrier fluid cabin
Body channel is connected, and air flue control valve is arranged on tank roof gas passage.
Underwater robot boat state of the invention, which adjusts liquid tank system, to include:
1. the semiorbicular carrier fluid cabin is U-shaped carrier fluid cabin, V-type carrier fluid cabin or flat U-shaped carrier fluid cabin.
2. each control gas circuit in two control gas circuits in parallel is composed in series by two air valves, high pressure gas cylinder connection
Among two air valves that one controls gas circuit, it is connected among two air valves of another control gas circuit with the external world.
Underwater robot with boat state adjusting liquid tank system of the invention includes the following two kinds scheme:
Scheme one: arrange that a set of boat state adjusts liquid tank system in the middle part of robot under water, the boat state adjusts liquid tank system
It is semiorbicular carrier fluid cabin in liquid tank outer casing bottom setting section, two upper end surfaces in carrier fluid cabin are distinguished including liquid tank shell
Left side cabin air valve and the right cabin air valve are set, and kingston valve is arranged in the bottom in carrier fluid cabin, between left side cabin air valve and the right cabin air valve
Two control gas circuits in parallel are set, a control gas circuit is connected with high pressure gas cylinder, and another control gas circuit is connected with the external world,
It is respectively formed the gas chamber of compressible gas between two upper surfaces of the nightside and carrier fluid cabin of carrier fluid cabin contained liquid and liquid, carries
It is connected between two upper surfaces of liquid tank by tank roof gas passage, air flue is set on tank roof gas passage and is controlled
Valve.
Method two: robot bow stern respectively arranges that a set of boat state adjusts liquid tank system under water, and the boat state adjusts liquid tank system
System includes liquid tank shell, is semiorbicular carrier fluid cabin in liquid tank outer casing bottom setting section, two upper surfaces in carrier fluid cabin are punished
Not She Zhi left side cabin air valve and the right cabin air valve, the bottom in carrier fluid cabin is arranged kingston valve, left side cabin air valve and the right cabin air valve it
Between two control gas circuits in parallel are set, a control gas circuit is connected with high pressure gas cylinder, and another controls gas circuit and is connected with the external world
It is logical, the gas of compressible gas is respectively formed between two upper surfaces of the nightside and carrier fluid cabin of carrier fluid cabin contained liquid and liquid
Room is connected between two upper surfaces in carrier fluid cabin by tank roof gas passage, air flue is arranged on tank roof gas passage
Control valve.
The control method of the underwater robot for adjusting liquid tank system with boat state of the invention includes the control of approximately level floading condition
Method and approximately level attitude control method.
The approximately level floading condition control method that the underwater robot of liquid tank system is adjusted with boat state, specifically includes following step
It is rapid:
Step 1: desired depth of implements and floading condition are input to underwater robot when by underwater robot approximately level operation
In control system；
Step 2: the underwater robot approximately level depth information that depth gauge detects is passed through the wave based on coloured noise
Interference filter is estimated sea wave disturbance signal and is separated from the output signal of control system, with desired depth and floading condition
Error signal is obtained as difference；
Step 3: the error signal that step 2 is obtained is passed through the underwater robot buoyancy depthkeeping sliding formwork control of feedback linearization
Device processed, control boat state adjust compressible gas flow in liquid tank system, and control liquid tank controls liquid level in liquid tank into draining；
Step 4: repeat step 2 and step 3 make the underwater robot of approximately level operation keep desired depth of implements and
Floading condition.
The approximately level attitude control method that the underwater robot of liquid tank system is adjusted with boat state, specifically includes following step
It is rapid:
Step 1: desired posture is input in attitude control system when by underwater robot approximately level operation；
Step 2: attitude transducer is detected that the posture information with sea wave disturbance obtains posture as difference with desired posture
Error；
Step 3: the attitude error that step 2 is obtained is passed through the broad sense constrained with liquid motion in power constraints and cabin
Predict that active controller, Generalized Prediction active controller control the intrinsic spy of liquid in air flue control valve openings of sizes adjusting cabin
Property, passive control is formed to liquid tank；
Step 4: joint coordination control boat state adjusts compressible gas flow in liquid tank system, the rolling of liquid in control cabinet
Movement is swung, the power and torque for generating liquid sloshing offset water dispenser sea wave disturbance power suffered by underwater robot；
Step 5: repeating Step 2: Step 3: step 4, makes the underwater robot of approximately level operation keep expectation posture.
Underwater robot when approximately level navigates by water operation, due to by the environmental disturbances such as ocean current wave influenced to generate compared with
It is big wave, heave movement seriously destroys itself posture balancing of underwater robot, or even cause mission failure.Mesh of the invention
Be in order to solve problems and propose a kind of underwater robot boat state adjust liquid tank system, this under water robot navigate
State further developed the underwater robot that liquid tank system is adjusted with underwater robot boat state on the basis of adjusting liquid tank system
And its control method.
Compared with prior art, the beneficial effects of the present invention are: the present invention is based on the underwater robot of multi-functional liquid tank is close
Water surface operation actively adapts to environment boat state adjusting method and is able to solve such problems: underwater robot is in approximately level navigation, work
When industry due to by the environmental disturbances such as ocean current, wave influenced to generate it is biggish wave, heave movement, seriously destroy underwater machine
Itself posture balancing of device people, or even cause mission failure.Underwater robot can have a following ability through the invention: first,
Stronger athletic posture stabilizing power；Second, degree of precision floading condition control ability；Third, stronger environment self-adaption ability.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that underwater robot boat state of the invention adjusts liquid tank system.
Fig. 2 is the structural schematic diagram that the first embodiment of underwater robot of liquid tank system is adjusted with boat state.
Fig. 3 is the structural schematic diagram that second of embodiment of underwater robot of liquid tank system is adjusted with boat state.
Fig. 4 is the frame that the approximately level operation floading condition adjustment control method of underwater robot of liquid tank system is adjusted with boat state
Figure.
Fig. 5 is the frame that the approximately level operation attitude regulation control method of underwater robot of liquid tank system is adjusted with boat state
Figure.
Specific embodiment
It illustrates below and the present invention is described in more detail.
In conjunction with Fig. 1, it includes liquid tank shell 6 that underwater robot boat state of the invention, which adjusts liquid tank system, at liquid tank shell bottom
It is semiorbicular carrier fluid cabin 9 that section, which is arranged, in portion, and left side cabin air valve 7 and the right cabin gas is respectively set in two upper end surfaces in carrier fluid cabin
Kingston valve 10 is arranged in the bottom of valve 12, carrier fluid cabin, and two control gas in parallel are arranged between left side cabin air valve and the right cabin air valve
Road, a control gas circuit are connected with high pressure gas cylinder 11, and another control gas circuit is connected with the external world, carrier fluid cabin contained liquid and liquid
The gas chamber 8 of compressible gas, two upper surfaces in carrier fluid cabin are respectively formed between the nightside of body and two upper surfaces in carrier fluid cabin
Between be connected by tank roof gas passage 6 with 13, on tank roof gas passage be arranged air flue control valve 14.Two parallel connections
Control gas circuit in each control gas circuit be composed in series by two air valves, a control gas circuit is by air valve 01P and air valve 01S
It is composed in series, the snorkel being connected with the external world is connected between air valve 01P and air valve 01S, and another controls gas circuit by air valve
02P and air valve 02S are composed in series, and high pressure gas cylinder 11 is connected between air valve 02P and air valve 02S.
The cross sectional shape in carrier fluid cabin is preferably U-shaped, is also possible to V-type or flat U-shaped.
In conjunction with Fig. 2, the underwater robot with boat state adjusting liquid tank system of the invention are as follows: under water in robot 1
Portion arranges that a set of boat state adjusts liquid tank system 2, and it includes liquid tank shell 6 that boat state, which adjusts liquid tank system, is arranged in liquid tank outer casing bottom
Section is semiorbicular carrier fluid cabin 9, and left side cabin air valve 7 and the right cabin air valve 12 is respectively set in two upper end surfaces in carrier fluid cabin,
Kingston valve 10 is arranged in the bottom in carrier fluid cabin, two control gas circuits in parallel of setting between left side cabin air valve and the right cabin air valve, and one
Only control gas circuit is connected with high pressure gas cylinder 11, and another controls gas circuit and is connected with the external world, carrier fluid cabin contained liquid and liquid
The gas chamber 8 of compressible gas is respectively formed between nightside and two upper surfaces in carrier fluid cabin, between two upper surfaces in carrier fluid cabin
It is connected by tank roof gas passage 6 with 13, air flue control valve 14 is set on tank roof gas passage.Two controls in parallel
Each control gas circuit in gas circuit processed is composed in series by two air valves, and a control gas circuit is connected by air valve 01P and air valve 01S
Composition is connected between air valve 01P and air valve 01S with the snorkel that is connected of the external world, another control gas circuit by air valve 02P and
Air valve 02S is composed in series, and high pressure gas cylinder 11 is connected between air valve 02P and air valve 02S.The cross sectional shape in carrier fluid cabin is preferably U-shaped.
The embodiment is using the single liquid tank scheme for being arranged in underwater robot parallel (middle) body.
In conjunction with Fig. 3, second of embodiment of the underwater robot that liquid tank system is adjusted with boat state of the invention are as follows:
The bow stern of underwater robot 4 respectively arranges that a set of boat state adjusts liquid tank system 3 and 5, set boat state adjust the composition of liquid tank system with it is upper
It states identical in the first embodiment.The embodiment is using using the biliquid cabin side for being arranged in underwater robot bow stern
Case.
Underwater robot boat state, which adjusts vacancy among two wing tank of U-shaped structure carrier fluid cabin of liquid tank system, can be used for arranging under water
The other systems such as the robot energy, control, load and equipment.Two side of a ship wing tank top part of carrier fluid cabin not She Zhi an air valve, pass through
Control gas circuit is connected with high pressure gas cylinder, tank bottom setting kingston valve, closes for controlling in liquid tank liquid with outside the logical of seawater.
Underwater robot navigate state adjust liquid tank system into drainage procedure are as follows: a left side is not arranged in two side of a ship wing tank top part of carrier fluid cabin
Wing tank air valve 7, the right cabin air valve 12 are connected by control gas circuit with high pressure gas cylinder；Kingston valve is arranged in tank bottom, for controlling
The disengaging of liquid and external seawater in carrier fluid cabin；When air valve 01P, 02S, kingston valve 10 are closed, carrier fluid cabin is a confined air
Between, carrier fluid cabin internal gas and internal liquid cannot be discharged, and underwater robot outside air and seawater can not enter this under water
Robot boat state adjusts liquid tank system；When air valve 01P, 01S are opened, the gas in the carrier fluid cabin can be arranged to underwater robot
Ambient outside air or extraneous seawater；When underwater robot needs to float, left side cabin air valve 7, kingston valve 10, the right cabin are opened
Air valve 12, control tank roof gas circuit (open 02P, 02S, close 01P, 01S) makes high pressure gas flow into carrier fluid cabin, by liquid in cabin
Body extrudes liquid tank, presses to external seawater；When underwater robot needs dive, control tank roof gas circuit and external environment are connected
(open 01P, 01S, close 02P, 02S) opens kingston valve, and seawater flows into liquid tank because of inside and outside differential pressure.
Underwater robot approximately level boat state control method based on liquid tank system, this method comprises: being based on multi-functional liquid tank
The underwater robot approximately level floading condition control method of system and underwater robot approximately level gesture stability based on multi-functional liquid tank
Method two parts；
In conjunction with Fig. 4, the underwater robot approximately level floading condition control method based on multifunctional solution cabin system includes the following steps,
Step 1: desired depth of implements and floading condition are input to underwater robot when by underwater robot approximately level operation
In control system；
Step 2: the underwater robot approximately level depth information that depth gauge detects is passed through the wave based on coloured noise
Interference filter, estimation sea wave disturbance signal simultaneously will be separated in its output signal from control system, with desired depth and
Floading condition obtains error signal as difference；
Step 3: the error signal that step 2 is obtained is passed through the underwater robot buoyancy depthkeeping sliding formwork control of feedback linearization
Device processed controls compressible gas flow in multifunctional solution cabin system, and control liquid tank controls liquid level in liquid tank into draining；
Step 4: repeat step 2 and step 3 make the underwater robot of approximately level operation keep desired depth of implements and
Floading condition
For liquid tank system strong nonlinearity, big inertia lag and underwater robot in approximately level Depth control by sea
The problem of wave interference, floading condition control block diagram according to Fig.4, estimate sea wave disturbance by coloured noise sea wave disturbance filter
Signal, and will be separated in its depth output signal from control system, avoid enter into controller link；Then by being based on
The underwater robot buoyancy depthkeeping sliding mode controller of feedback linearization, the non-linear and liquid tank for solving system are stagnant into big inertia is drained
Problem afterwards.
Sea wave disturbance signal is coloured noise signal, and above-mentioned coloured noise sea wave disturbance filter refers to, by this wave
The filter that interference coloured noise signal is filtered out from input signal.
Above-mentioned buoyancy depthkeeping sliding formwork control refers to that the sliding for introducing nonlinear function by construction sliding-mode surface function is super flat
Face enables and tracks the control method that buoyancy error goes to zero in finite time on sliding-mode surface.
In conjunction with Fig. 5, the underwater robot approximately level attitude control method based on multifunctional solution cabin system includes the following steps,
Step 1: desired posture is input in attitude control system when by underwater robot approximately level operation；
Step 2: attitude transducer is detected that the posture information with sea wave disturbance obtains posture as difference with desired posture
Error；
Step 3: the attitude error that step 2 is obtained is passed through the broad sense constrained with liquid motion in power constraints and cabin
Predict active controller, liquid is intrinsic in Generalized Prediction active controller control tank roof flow valve openings of sizes adjusting cabin
Characteristic forms passive control to liquid tank.
Step 4: joint coordination controls compressible gas flow in multifunctional solution cabin system, and liquid rocks in control cabinet
Movement, the power and torque for generating liquid sloshing offset water dispenser sea wave disturbance power suffered by underwater robot.
Step 5: repeating Step 2: Step 3: step 4, makes the underwater robot of approximately level operation keep expectation posture.
When underwater robot approximately level operation there is the problems such as uncertain, non-linear, multiple constraint in gesture stability, it is difficult to build
It founds accurate mathematical model and realizes effective control.Generalized Prediction active control is the control algolithm based on model prediction, exactly
A kind of computerized algorithm to grow up to adapt to this requirement.
As shown in Figure 1, gesture stability block diagram, utilizes liquid tank according to figure 5 using the U-shaped liquid tank of enclosed gas control as object
The inherent characteristic of liquid sloshing in the flow valve openings of sizes adjusting cabin of top air flue forms passively controlled control to liquid tank,
It realizes that liquid is mobile in cabin using the energy of wave, stability action is generated to underwater robot；Using with Prescribed Properties
The active controller of Generalized Prediction:
Joint coordination control is carried out to liquid tank, liquid motion constraint and energy constraint in cabin are comprehensively considered, in lesser function
Under the conditions of rate consumption, the control effect and adaptive ability of liquid tank are improved.
Claims (9)
1. a kind of underwater robot boat state adjusts liquid tank system, including liquid tank shell, it is characterized in that: being arranged in liquid tank outer casing bottom
Section is semiorbicular carrier fluid cabin, and left side cabin air valve and the right cabin air valve, carrier fluid is respectively set in two upper end surfaces in carrier fluid cabin
Kingston valve is arranged in the bottom in cabin, and two control gas circuits in parallel, a control are arranged between left side cabin air valve and the right cabin air valve
Gas circuit is connected with high pressure gas cylinder, and another control gas circuit is connected with the external world, the nightside and load of carrier fluid cabin contained liquid and liquid
The gas chamber of compressible gas is respectively formed between two upper surfaces of liquid tank, by tank roof between two upper surfaces in carrier fluid cabin
Gas passage is connected, and air flue control valve is arranged on tank roof gas passage.
2. underwater robot boat state according to claim 1 adjusts liquid tank system, it is characterized in that: the semiorbicular carrier fluid
Cabin is U-shaped carrier fluid cabin, V-type carrier fluid cabin or flat U-shaped carrier fluid cabin.
3. underwater robot boat state according to claim 1 or 2 adjusts liquid tank system, it is characterized in that: two controls in parallel
Each control gas circuit in gas circuit processed is composed in series by two air valves, and high pressure gas cylinder is connected to two gas of a control gas circuit
Among valve, it is connected among two air valves of another control gas circuit with the external world.
4. a kind of underwater robot for adjusting liquid tank system with boat state, it is characterized in that: arrangement is a set of in the middle part of robot under water
State of navigating adjusts liquid tank system, and it includes liquid tank shell that the boat state, which adjusts liquid tank system, is half in liquid tank outer casing bottom setting section
The carrier fluid cabin of annular, left side cabin air valve and the right cabin air valve, the bottom in carrier fluid cabin is respectively set in two upper end surfaces in carrier fluid cabin
Kingston valve is set, two control gas circuits in parallel, a control gas circuit and height are set between left side cabin air valve and the right cabin air valve
Air bottle is connected, and another control gas circuit is connected with the external world, the nightside of carrier fluid cabin contained liquid and liquid and the two of carrier fluid cabin
The gas chamber of compressible gas is respectively formed between a upper surface, by tank roof gas passage between two upper surfaces in carrier fluid cabin
It is connected, air flue control valve is set on tank roof gas passage.
5. a kind of underwater robot for adjusting liquid tank system with boat state, it is characterized in that: robot bow stern respectively arranges one under water
Set boat state adjusts liquid tank system, and it includes liquid tank shell that the boat state, which adjusts liquid tank system, is in liquid tank outer casing bottom setting section
Left side cabin air valve and the right cabin air valve, the bottom in carrier fluid cabin is respectively set in two upper end surfaces in semiorbicular carrier fluid cabin, carrier fluid cabin
Kingston valve is arranged in portion, is arranged two control gas circuits in parallel between left side cabin air valve and the right cabin air valve, control gas circuit and
High pressure gas cylinder is connected, and another control gas circuit is connected with the external world, nightside and the carrier fluid cabin of carrier fluid cabin contained liquid and liquid
It is respectively formed the gas chamber of compressible gas between two upper surfaces, is led between two upper surfaces in carrier fluid cabin by tank roof gas
Road is connected, and air flue control valve is arranged on tank roof gas passage.
6. a kind of control method for the underwater robot for adjusting liquid tank system with boat state as claimed in claim 4, feature
It is the approximately level floading condition control that the control method is underwater robot, specifically comprises the following steps:
Step 1: desired depth of implements and floading condition are input to the control of underwater robot when by underwater robot approximately level operation
In system；
Step 2: the underwater robot approximately level depth information that depth gauge detects is passed through the sea wave disturbance based on coloured noise
Filter estimates sea wave disturbance signal and separates from the output signal of control system that it is poor to make with desired depth and floading condition
Obtain error signal；
Step 3: the error signal that step 2 is obtained is passed through the underwater robot buoyancy depthkeeping sliding formwork control of feedback linearization
Device, control boat state adjust compressible gas flow in liquid tank system, and control liquid tank controls liquid level in liquid tank into draining；
Step 4: repeating step 2 and step 3 makes the underwater robot of approximately level operation keep desired depth of implements and float
State.
7. a kind of control method for the underwater robot for adjusting liquid tank system with boat state as claimed in claim 4, feature
It is the approximately level gesture stability that the control method is underwater robot, specifically comprises the following steps:
Step 1: desired posture is input in attitude control system when by underwater robot approximately level operation；
Step 2: attitude transducer is detected that posture information and desired posture with sea wave disturbance obtain posture as difference and miss
Difference；
Step 3: the attitude error that step 2 is obtained is passed through the Generalized Prediction constrained with liquid motion in power constraints and cabin
Active controller, Generalized Prediction active controller controls the inherent characteristic of liquid in air flue control valve openings of sizes adjusting cabin, right
Liquid tank forms passive control；
Step 4: joint coordination control boat state adjusts compressible gas flow in liquid tank system, and liquid rocks fortune in control cabinet
Dynamic, the power and torque for generating liquid sloshing offset water dispenser sea wave disturbance power suffered by underwater robot；
Step 5: repeating Step 2: Step 3: step 4, makes the underwater robot of approximately level operation keep expectation posture.
8. a kind of control method for the underwater robot for adjusting liquid tank system with boat state as claimed in claim 5, feature
It is the approximately level floading condition control that the control method is underwater robot, specifically comprises the following steps:
Step 1: desired depth of implements and floading condition are input to the control of underwater robot when by underwater robot approximately level operation
In system；
Step 2: the underwater robot approximately level depth information that depth gauge detects is passed through the sea wave disturbance based on coloured noise
Filter estimates sea wave disturbance signal and separates from the output signal of control system that it is poor to make with desired depth and floading condition
Obtain error signal；
Step 3: the error signal that step 2 is obtained is passed through the underwater robot buoyancy depthkeeping sliding formwork control of feedback linearization
Device, control boat state adjust compressible gas flow in liquid tank system, and control liquid tank controls liquid level in liquid tank into draining；
Step 4: repeating step 2 and step 3 makes the underwater robot of approximately level operation keep desired depth of implements and float
State.
9. a kind of control method for the underwater robot for adjusting liquid tank system with boat state as claimed in claim 5, feature
It is the approximately level gesture stability that the control method is underwater robot, specifically comprises the following steps:
Step 1: desired posture is input in attitude control system when by underwater robot approximately level operation；
Step 2: attitude transducer is detected that posture information and desired posture with sea wave disturbance obtain posture as difference and miss
Difference；
Step 3: the attitude error that step 2 is obtained is passed through the Generalized Prediction constrained with liquid motion in power constraints and cabin
Active controller, Generalized Prediction active controller controls the inherent characteristic of liquid in air flue control valve openings of sizes adjusting cabin, right
Liquid tank forms passive control；
Step 4: joint coordination control boat state adjusts compressible gas flow in liquid tank system, and liquid rocks fortune in control cabinet
Dynamic, the power and torque for generating liquid sloshing offset water dispenser sea wave disturbance power suffered by underwater robot；
Step 5: repeating Step 2: Step 3: step 4, makes the underwater robot of approximately level operation keep expectation posture.
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| CN201910559841.9A CN110308734B (en) | 2019-06-26 | 2019-06-26 | Underwater robot navigation state adjusting liquid tank system, underwater robot and control method |
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| CN201910559841.9A CN110308734B (en) | 2019-06-26 | 2019-06-26 | Underwater robot navigation state adjusting liquid tank system, underwater robot and control method |
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| CN110308734A true CN110308734A (en) | 2019-10-08 |
| CN110308734B CN110308734B (en) | 2022-05-31 |
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