CN115185186A - Underwater propeller control method based on multi-motor cooperation - Google Patents
Underwater propeller control method based on multi-motor cooperation Download PDFInfo
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Abstract
The invention belongs to the technical field of electric propulsion control of underwater robots, and particularly relates to a control method of an underwater propeller based on multi-motor cooperation. Aiming at the multi-motor cooperative control system, the invention provides that an exponential decay torque observer is adopted to feed back the rotating speed of a driven shaft propulsion motor so as to solve the problem that an underwater robot cannot be provided with a torque sensor, but the main shaft method has higher requirement on torque detection precision, ensure the proportional coordination and synchronization process of multiple motors and have stronger disturbance resistance.
Description
Technical Field
The invention belongs to the technical field of robot control, and particularly relates to an underwater propeller control method based on multi-motor cooperation.
Background
The exploration and development of oceans cannot be supported by advanced technologies. The underwater robot is an important tool for difficult underwater detection and an important carrier for executing dangerous deep sea tasks. Underwater robots are often disturbed by turbulence when operating in shallow water or in complex environments. Severe turbulence will lead to yaw/roll and other serious problems. The design of efficient thrust instruction and multi-propulsion-motor cooperative control can eliminate the influence of turbulence, stabilize the posture of the robot and lay a solid foundation for subsequent inertial navigation, trajectory control and formation control.
The existing underwater power propulsion control mainly comprises the following schemes:
(1) Vector propulsion control system
The principle of vector propulsion control is a technique for obtaining an additional steering torque by deflecting the direction of the propeller. It features that the control moment is closely related to the propeller. But the moment value and the angle of a plurality of propellers are very complicated to calculate, and the method is not suitable for occasions of a plurality of underwater propellers.
(2) Bionic propulsion control system
Bionic propulsion control is adopted to simulate the unique swimming mode of fishes, translational waves are generated behind the fish tails by utilizing the fluctuation of the fish bodies or tail fins, further advancing thrust is generated, the pectoral fins play a role in assisting propulsion or changing directions, and the propulsive force is generated in a mixed flapping or fluctuation mode. The scheme has higher control difficulty, is not suitable for occasions with higher requirements on the main body propelling force of the robot, and has general reliability.
(3) Multi-motor propulsion control system
The multi-motor propulsion control principle is that a plurality of motors arranged to an underwater robot main body are cooperatively controlled, and deviation calculation is performed through feedback rotating speed or torque between the motors. The actual rotating speed of each motor is obtained to carry out unified control, the feedback relation of the parameters of each motor is obtained through the operation of the controller, the reference rotating speed is sent to each propeller, and the synchronous control is realized through the feedback deviation. However, the conventional multi-motor cooperation technology is only suitable for the condition that the rotation speeds of a plurality of slave motors are consistent.
TABLE 1 comparison of advantages and disadvantages of the existing domestic propeller control modes
In actual navigation, the underwater environment is complex, the viscosity coefficient of water is large, when the underwater robot changes a large distance or the surrounding water flow causes continuous interference, the ship body can generate continuous oscillation, accurate track tracking cannot be realized, and even the underwater robot breaks away from an expected track, so that the tracking control is unstable. Aiming at the actual operation working condition of the underwater robot: and the differential speed of a plurality of propulsion motors is coordinated when the path is changed greatly.
Disclosure of Invention
The invention aims to solve the technical problems and provides a thrust normalization dimension reduction distribution method for multi-motor cooperative control, which reduces the complexity of multi-motor control and realizes differential cooperative control. In addition, an exponential decay torque observer is designed to solve the contradiction that the underwater robot cannot be provided with a torque sensor, but the multi-motor cooperation has higher requirement on torque detection precision, and the torque is fed back and estimated to the main shaft and driven shaft controller in real time. The underwater robot adopting the multi-motor main shaft cooperative control method can still keep stronger stability when the path is changed greatly.
The invention adopts the following specific technical scheme:
the thrust normalization dimension reduction distribution method is designed through a contribution coefficient vector, the input end of the multi-motor cooperation method is improved, the exponential attenuation torque observer accelerates the convergence speed by using an exponential attenuation rate on the basis of a torque expansion equation, and the robustness of a control system is enhanced by adding interference suppression gain.
In the technical scheme, according to the underwater robot motion control system structure, the thrust normalization dimension reduction distribution method obtains a degree-of-freedom demand instruction vector through calculation of the contribution coefficient vector of the propulsion motor, and designs the differential input signal of the cooperative control of the master and slave shafts of the multiple motors, so that the propulsion motor closed-loop system has a high track tracking response speed, and the multiple-motor differential control is realized.
The technical scheme specifically comprises the following steps:
the method comprises the following steps: the multi-motor main shaft and driven shaft cooperative method takes the real-time estimated torque of a driven shaft propulsion motor as feedback, and a main shaft controls the differential cooperative motion of the driven shaft propulsion motor through feedback regulation and speed distribution;
step two: the thrust normalization dimension reduction distribution method is designed on the basis of contribution coefficient vectors by decomposing a thrust instruction of an upper computer, so that a thrust set value can be changed in real time when a plurality of propulsion motors perform track tracking, the matrix dimension is reduced, the complexity of multi-motor control is simplified, the coordination control of a plurality of driven shafts is completed, all speeds are set to the driven shaft motors in a proportional synchronization mode by taking the maximum set rotating speed as a reference, and the differential speed cooperative control of the plurality of propulsion motors is realized;
step three: designing an exponential decay torque observer, constructing a torque expansion equation according to a current rotating speed measurement error, considering the speed and precision requirements of a system, designing the torque observer with interference suppression gain and exponential decay rate to estimate real-time torque at a high speed, and directly feeding the real-time torque to a main shaft and driven shaft controller so as to solve the contradiction that an underwater robot cannot be provided with a torque sensor, but multiple motors cooperate to have higher requirements on torque detection precision;
step four: by integrating the first step, the second step and the third step, an underwater propeller control method based on multi-motor cooperation is provided, the structure of a power propulsion control system of the underwater robot is designed, and finally a complete multi-motor cooperation control system of the underwater robot is provided; the underwater robot power propulsion control system structure is composed of a main shaft controller and a plurality of driven shaft controllers, wherein the main shaft controller is connected to a virtual motor, and each driven shaft controller is connected with an exponential decay torque observer and a motor control system.
The invention has the beneficial effects that:
(1) Compared with the prior art, the multi-motor main and auxiliary shaft cooperation method realizes the differential cooperation of multiple motors of the driven shaft by using a thrust normalization dimension reduction distribution method, reduces the complexity of a multi-motor cooperative control system, and meets the working condition when the large-amplitude path of the underwater robot is changed;
(2) The exponential decay torque observer solves the contradiction that an underwater robot cannot be provided with a torque sensor, but the requirement of multi-motor cooperation on torque detection precision is high, and the stability of a multi-motor cooperation method is ensured;
(3) The multi-motor main and auxiliary shaft cooperation method is combined with the two methods, so that the underwater robot has higher requirements on different-speed cooperation of multiple motors when the path is greatly changed, and the underwater robot is favorable for application in the aspect of power propulsion during track tracking of the underwater robot.
Drawings
Fig. 1 is a block diagram of a multi-motor master-slave axis cooperative control system in an embodiment of the invention.
Fig. 2 is a block diagram of a cooperative structure of a master and slave shafts of multiple motors in an embodiment of the invention.
Fig. 3 is a schematic diagram of a motion control system of an underwater robot in an embodiment of the invention.
FIG. 4 is a schematic diagram of a thrust normalization dimension reduction distribution method in the embodiment of the present invention.
Detailed Description
For the purpose of enhancing the understanding of the present invention, the present invention will be described in further detail with reference to the accompanying drawings and examples, which are provided for the purpose of illustration only and are not intended to limit the scope of the present invention.
An underwater propeller control method based on multi-motor cooperation comprises three parts: the dynamic multi-motor master-slave axis hybrid power system comprises a multi-motor master-slave axis cooperation method, a thrust normalization dimension reduction distribution method and an exponential decay torque observer. The main shaft part and the driven shaft part are composed of a main shaft motor and a driven shaft propulsion motor, a thrust normalization dimension reduction distribution method redistributes a thrust instruction of an upper computer, and an exponential decay torque observer feeds back a real-time torque to solve the contradiction that the underwater robot cannot be provided with a torque sensor, but the main shaft method has higher requirement on the torque detection precision. And finishing the control system applied to underwater propulsion. The method is characterized in that the auxiliary track tracking control is performed to complete the propulsion control of the underwater robot, the dynamic propulsion control system structure of the underwater robot is composed of a main shaft controller and a plurality of driven shaft controllers, the main shaft controller is connected to a virtual motor, and each driven shaft controller is connected with an exponential decay torque observer and a motor control system, as shown in figure 1.
Multi-motor master-slave shaft cooperation
The underwater robot has higher requirements on the different-speed cooperation of multiple motors when the path is changed greatly. The multi-motor main driven shaft cooperative control simulates an actual mechanical shaft by establishing a main shaft with the same transmission characteristic as the actual mechanical shaft, the load force on the actual driven shaft is fed back to the main shaft, and the torque balance between the main shaft and the actual driven shaft is realized through the calculation of a main shaft controller. The spindle drive torque formula is as follows:
T ref ＝b(ω * -ω)+K m ∫(ω * -ω)dt (1)
in the formula (1), T ref Is the main shaft driving torque, b is the main shaft damping coefficient, K m As elastic parameter at the input end of the spindle, ω * To theoretically set the angular velocity, ω is the spindle angular velocity. The kinetic equation is as follows:
in the formula (2), T refi And (3) feeding back the torque for each actual driven shaft motor, wherein omega and theta respectively correspond to the angular speed and the rotation angle of the main shaft, and J is the rotational inertia of the main shaft.
The spindle controller controls the synchronous motion of the multi-motor drive system through feedback regulation and speed distribution. Track heel of underwater robotFollowing interference with external turbulence, each actual driven shaft motor needs to be dynamically adjusted, and therefore its load torque T Li Has time-varying and undetectable properties. As shown in fig. 2.
Thrust normalization dimension reduction distribution method
The underwater robot base motion control architecture is shown in fig. 3. The planning system generates a corresponding expected pose according to requirements, and the controller compares the expected pose of the underwater robot with a current pose measured based on the sensors to calculate expected force and moment. The thrust allocation method is used to calculate the amount of thrust each thruster will provide in providing the required force and torque. And integrating the thrust provided by the propeller into forces and moments in six degrees of freedom, and calculating the forces and moments as input values of the underwater robot model.
When the underwater robot realizes six-degree-of-freedom motion, the speed and the thrust of a propulsion motor need to be changed in real time according to working conditions. Establishing an expected thrust distribution formula according to the relation between the rotating speed and the thrust of the propeller:
in formula (3), V A Is the speed of the propeller, D is the diameter of the propeller, R.omega is the speed of the propeller, R is the reduction ratio of the gearbox, omega motor speed, K P Is the coefficient of the torque to be,
F＝BP d (4)
in formula (4), F = [ X Y K M N] T Six-freedom-degree thrust and moment vectors of an underwater robot consisting of propellers, B is a vector arrangement matrix of the propellers, and P is d ＝[P 1 P 2 P 3 … P N ] T Is the thrust of each propeller.
To reduce the matrix dimension, the complexity of the multi-motor control is simplified. And converting the plurality of propulsion motors into three xyz-axis propulsion motors. The execution result of the control instruction of each thruster is connected with the contribution of the control instruction to the 6 degrees of freedom, and a certain contribution coefficient is assigned. Each degree of freedom control command for each thruster can form a contribution coefficient vector related to six degrees of freedom of the underwater robot.
When the controller issues control instructions of various degrees of freedom to the underwater robot, vectors formed by the degree demand instructions of the underwater robot and contribution coefficient vectors corresponding to the degrees of freedom of each thruster are subjected to inner products, and the result is the control instruction of the thruster in the direction of the degrees of freedom.
The calculation rule of the degree of freedom requirement instruction vector is as follows: suppose ith stage pusher T i The maximum thrust in the direction of its arrangement may be denoted as P imax (i =1,2,3). The thrust vector p can be obtained imax ＝(P xi ，P yi ，P zi ) The coordinate of the thrust acting point in the body coordinate system is (x) i ，y i ，z i ). Ith propeller T i The contribution coefficients in the three translational degrees of freedom are determined by
And
to show, so propeller T i In three degrees of freedom, a contribution coefficient of
The contribution coefficients of three rotational degrees of freedom are composed of
And
it is shown that,
a contribution coefficient matrix composed of the contribution coefficient vectors of each thruster is
In formula (7), P di The thrust vectors of the three simplified motors are obtained, and the reference values of the rotating speeds of the motors can be obtained by the formula (3). All the thrusters of the underwater robot are equivalent to three propelling motors which are horizontally arranged in x, y and z axes under the body coordinate, and the track tracking and the resistance to the external turbulence interference can be simplified into the real-time rotating speed control of the three motors.
According to the proportional synchronization requirement, an initial proportional coefficient is defined: v. of 1 :v 2 :v 3 ＝μ 1 :μ 2 :μ 3 Comparing the input speeds of the three motors, and defining the highest rotation speed axis as omega * Motor (mu) with the largest proportionality coefficient k ＝max(μ 1 ,μ 2 ,μ 3 ) Is defined as the spindle speed reference.
ω * ＝ω max ω d ＝ω max (ω d1 ,ω d2 ,ω d3 ) (8)
In the formula (8), ω is d1 ，ω d2 And ω d3 Is the reference speed of the three motors.
Calculating the scale factor mu i Setting the maximum speed as a reference value
And (3) combining the transmission ratio coefficient with the main shaft dynamics equation (2) to obtain the input rotating speed of each driven shaft. The reference rotating speed of each driven shaft after normalization calculation is
In the formula (10), the reaction mixture is,
a reference rotational angular velocity for each driven shaft; ω corresponds to the angular velocity of the spindle. Feedback torque of the driven shaft is
In formula (11), b r Is the damping gain; k r Is a stiffness gain; k ir Is the integral stiffness gain;
a reference rotational displacement for each driven shaft; theta i Is the actual angular displacement of rotation; theta corresponds to the spindle rotation angle.
And each driven shaft outputs the rotating speed according to the actual working condition. Up to this point, the normalized design of speed has been completed. The multi-motor propulsion under the proportional speed output can assist the underwater robot to perform the track tracking and steering processes, ensure the uniform speed transition of the robot in the steering process, and realize the faster and more efficient track tracking, as shown in fig. 4, the output of the normalization module is the control input of the main shaft.
Exponential decay torque observer
The method aims to inhibit the cooperative desynchronization of the main shaft and the driven shaft of the multi-motor caused by transient influence on a system when the active direction change and the external disturbance change greatly. And designing an exponential attenuation observer with interference suppression gain and exponential attenuation rate to estimate the torque at a high speed, and directly feeding the torque back to the driven shaft and the main shaft.
Considering the measurement error caused by external water flow interference and dynamic response delay, a torque expansion state equation is established
Order to
C 1 ＝[0 1]，C 2 ＝[1 0]，
D 2 ＝[0 1]，
Wherein e is wi Is the error in the measurement of the current,
is i qi Measured value, e wω Is the velocity measurement error. The state observer is designed as
In the formula (13), y is a rotation speed measurement value, and y = C 2 x+D 2 w i Z is a load torque value T Li 。
Order to
Can obtain
Consideration is given to selecting a Lyapunov function V (t) = e ε T Pe ε Wherein P = P T > 0 is a positive definite matrix.
In the zero initial state, the selection performance function is as follows
In the formula (15), the reaction mixture is,
when Q is<0, with J<0，||Δz|| 2 ＜γ||w i || 2 Is applicable to any w i ≠0，Equivalent to | | G Δzw And | | is less than gamma. Solving for Q<0, the interference suppression gain K of the observer can be obtained.
In order to meet the requirement of real-time track adjustment of the underwater robot, the observer is required to have a sufficiently fast dynamic response speed. When measuring the interference w i =0, lyapunov function V(s) = e ε T Pe ε Is a time derivative of
If there is a scalar alpha > 0 order
Assuming an observation error e ε (t 0 ) At t 0 The time of day can be obtained
In equation (19), λ (P) is an eigenvalue of the P matrix. When equation (19) is satisfied, scalar α represents an exponential decay rate of the observation error.
To further improve the disturbance rejection performance of the system, the output of the observer is fed to the controller as an estimated lumped disturbance as a compensation section to enhance the robust performance.
According to the state observer formula (13), the disturbance rejection rate K and the exponential decay rate alpha of the observation error are combined, the combination is applied to the cooperation of the main shaft and the driven shaft of a plurality of motors, the observation torque is directly fed back, the main shaft can quickly respond to large load change, and the dynamic relation of the driven shaft can be more accurately reflected.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A control method of an underwater propeller based on multi-motor cooperation is characterized in that the control method is based on a multi-motor main shaft and driven shaft cooperation control method, and is composed of a main shaft thrust normalization dimension reduction distribution method and an exponential attenuation torque observer of a driven shaft propulsion motor.
2. The multi-motor cooperation-based underwater propeller control method according to claim 1, comprising the steps of:
the method comprises the following steps: the multi-motor main shaft and driven shaft cooperative method takes the real-time estimated torque of a driven shaft propulsion motor as feedback, and a main shaft controls the differential cooperative motion of the driven shaft propulsion motor through feedback regulation and speed distribution;
step two: a thrust normalization dimension reduction distribution method is provided, and the thrust normalization dimension reduction distribution method is designed on the basis of the contribution coefficient vector by decomposing a thrust instruction of an upper computer;
step three: designing an exponential decay torque observer, constructing a torque expansion equation according to the current rotating speed measurement error, considering the speed and precision requirements of the system, designing the torque observer with interference suppression gain and exponential decay rate to estimate the real-time torque at a high speed, and directly feeding the real-time torque back to the main shaft and driven shaft controller;
step four: by integrating the first step, the second step and the third step, an underwater propeller control method based on multi-motor cooperation is provided, an underwater robot dynamic propulsion control system structure is designed, and finally a complete underwater robot multi-motor cooperation control system is provided.
3. The method for controlling the underwater propeller based on multi-motor cooperation according to claim 2, wherein in the second step, the thrust normalization and dimension reduction distribution method, an expected thrust distribution formula is established according to the relation between the rotating speed and the thrust of the propeller:
in formula (1), V A Is the speed of the propeller, D is the diameter of the propeller, R.omega is the speed of the propeller, R is the reduction ratio of the gearbox, omega motor speed, K P Is the torque coefficient;
F＝BP d (2)
in formula (2), F = [ X Y K M N] T Is six-freedom-degree thrust and moment vector of an underwater robot consisting of propellers, B is a vector arrangement matrix of the propellers,
P d ＝[P 1 P 2 P 3 …P N ] T is the thrust of each propeller.
4. The method as claimed in claim 3, wherein in the second step, when the controller issues control commands for each degree of freedom to the underwater robot, the vector of the underwater robot formed by the degree demand commands and the contribution coefficient vector corresponding to each propeller degree of freedom are subjected to inner product, and the result is the control command for the propeller in the direction of the degree of freedom.
5. The multi-motor cooperation-based underwater propeller control method according to claim 4, wherein a calculation rule of the demand command vector for the degree of freedom is as follows:
setting the ith thruster T i The maximum thrust in the direction of its arrangement may be denoted as P imax (i＝1，2，3)，
Obtaining a thrust vector p imax ＝(P xi ，P yi ，P zi ) The coordinate of the thrust acting point in the body coordinate system is (x) i ，y i ，z i ) I th stage propeller T i The contribution coefficients in the three translational degrees of freedom are determined by
And
to show, so propeller T i In three degrees of freedom, a coefficient of contribution of
The contribution coefficients of three rotational degrees of freedom are represented by
And
it is shown that,
a contribution coefficient matrix composed of the contribution coefficient vector of each propeller is
In formula (6), P di The thrust vectors of the three simplified motors can be obtained by formula (1), all propellers of the underwater robot are equivalent to three propulsion motors horizontally arranged on x, y and z axes under body coordinates, and the track tracking and the external turbulence interference resistance can be simplified into the real-time rotation speed control of the three motors。
6. The multi-motor cooperation-based underwater propeller control method of claim 5, wherein in the second step, an initial scaling factor is defined according to a scaling synchronization requirement: v. of 1 :v 2 :v 3 ＝μ 1 :μ 2 :μ 3 Comparing the input speeds of the three motors, and defining the highest rotation speed axis as omega * Motor (mu) with the largest proportionality coefficient k ＝max(μ 1 ,μ 2 ,μ 3 ) Defined as the reference value of the spindle speed:
ω * ＝ω max ω d ＝ω max (ω d1 ,ω d2 ,ω d3 ) (6)
in the formula (6), ω is d1 ，ω d2 And omega d3 Is the reference speed of the three motors;
calculating the scale factor mu i The maximum speed is set as the reference value:
the reference rotating speed of each driven shaft after normalization calculation is as follows:
in the formula (8), the reaction mixture is,
a reference rotational angular velocity for each driven shaft; omega corresponds to the angular velocity of the main shaft and the feedback torque of the driven shaft is
In formula (9), b r For increasing dampingYi, K r For stiffness gain, K ir In order to integrate the stiffness gain,
for reference rotational displacement of each driven shaft, theta i To actually rotate the angular displacement, θ corresponds to the spindle rotation angle.
7. The method for controlling the underwater thruster based on the multi-motor cooperation as claimed in claim 6, wherein in the third step, a torque expansion state equation is established by using a measurement error, an optimization function is selected to obtain an interference suppression rate and an exponential attenuation rate of the observer, and a torque value calculated by the observer is fed back to the controller of the main shaft and the driven shaft, specifically comprising the following procedures:
considering measurement errors caused by external water flow interference and dynamic response delay, a torque expansion state equation is established:
order to
C 1 ＝[0 1]，C 2 ＝[1 0]，
D 2 ＝[0 1]，
Wherein e is wi Is the error in the measurement of the current,
is i qi Measured value, e wω Is the speed measurement error, the state observer is designed as:
in the formula (11), y is a rotation speed measurement value, and y = C 2 x+D 2 w i Z is a load torque value T Li ；
Order to
The following can be obtained:
selection of Lyapunov function V (t) = e under consideration ε T Pe ε Wherein P = P T > 0 is a positive definite matrix;
in the zero initial state, the performance function is chosen as follows:
in the formula (13), the reaction mixture is,
when Q is<0, with J<0，||Δz|| 2 ＜γ||w i || 2 Is applicable to any w i Not equal to 0, equivalent to G Δzw Solving for Q if | < gamma<0, the interference suppression gain K of the observer can be obtained.
8. The method for controlling the underwater thruster based on the multi-motor cooperation as claimed in claim 7, wherein in order to meet the requirement of real-time track adjustment of the underwater robot, the observer is required to have a sufficiently fast dynamic response speed: when measuring the interference w i =0, lyapunov function V(s) = e ε T Pe ε The time derivative of (a) is:
set presence scalar α > 0 order:
setting an observation error e ε (t 0 ) At t 0 At that time, the following results are obtained:
in equation (17), λ (P) is a characteristic value of the P matrix, and when equation (17) is satisfied, scalar α represents an exponential decay rate of the observation error.
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