CN115562313A - Autonomous underwater vehicle motion control method for pier flaw detection - Google Patents

Autonomous underwater vehicle motion control method for pier flaw detection Download PDF

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Publication number
CN115562313A
CN115562313A CN202211267918.3A CN202211267918A CN115562313A CN 115562313 A CN115562313 A CN 115562313A CN 202211267918 A CN202211267918 A CN 202211267918A CN 115562313 A CN115562313 A CN 115562313A
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pier
parameters
obtaining
underwater vehicle
autonomous underwater
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吴兵
苏鑫
王子月
陈德山
汪洋
吴达
张笛
范亮
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Guangdong Inland River Port And Shipping Industry Research Co ltd
Wuhan University of Technology WUT
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Guangdong Inland River Port And Shipping Industry Research Co ltd
Wuhan University of Technology WUT
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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Abstract

The invention discloses a motion control method of an autonomous underwater vehicle for bridge pier flaw detection, which belongs to the field of underwater robots and comprises the following steps: acquiring parameters of a target pier and natural environment parameters of a water area where the target pier is located, and establishing a coordinate system; establishing a kinematics and dynamics model of a target autonomous underwater vehicle; wherein the autonomous underwater vehicle carries a detector; obtaining an expected scanning path based on target pier parameters and working parameters of the detector; building a simulation environment based on a coordinate system; obtaining an initial PID parameter based on a simulation environment and a kinematics and dynamics model; and establishing a fuzzy rule base, obtaining the change increment of the PID parameters based on the fuzzy rule base and the expected scanning path, and realizing self-adaptive motion control based on the change increment. The invention can correct the motion attitude and position of the AUV in real time to adapt to complex underwater environment and turbulent flow near the bridge pier, and does not need personnel control, thereby improving the working efficiency.

Description

Autonomous underwater vehicle motion control method for pier flaw detection
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to a motion control method of an autonomous underwater vehicle for pier flaw detection.
Background
The bridge pier is a main bearing structure of the bridge, the bearing capacity of the bridge is directly influenced by the working state of the bridge pier, however, the underwater part of the bridge pier crossing the sea and the river can be eroded by water flow and corrosive substances all the year round, so that the performance of the pile body of the bridge pier can be degraded, and particularly the change of the external surface form and the integrity of the pile body is reflected, so that the working performance of the bridge pier is generally judged by detecting the external surface form and the integrity of the pile body of the bridge pier.
At present, a detection method for an underwater part of a pier is mainly a diver detection method, but the method is low in efficiency and can cause the diver to be in danger due to the complex underwater environment. In recent years, with the progress of robotics, remote Operated unmanned vehicles (ROVs) are used for bridge pier inspection at home and abroad, but since the ROVs still need to be Remotely Operated by related operators when in use, autonomous Underwater Vehicles (AUVs) are considered to be used for automatic operation to complete the task of bridge pier underwater part inspection. However, at present, a motion control method for performing a bridge pier flaw detection task by using an AUV is not complete, and particularly, a motion control method for controlling an AUV motion attitude by combining an underwater environment and a bridge pier form and performing real-time optimization according to an actual situation is not complete, so that the AUV cannot perform the bridge pier flaw detection task well.
Disclosure of Invention
The invention aims to provide a motion control method of an autonomous underwater vehicle for pier flaw detection, which aims to solve the problem of the incomplete motion control method in the prior art.
In order to achieve the above object, the present invention provides an autonomous underwater vehicle motion control method for pier flaw detection, comprising:
acquiring target pier parameters and natural environment parameters of a water area where the target pier parameters are located, and establishing a coordinate system;
establishing a kinematics and dynamics model of the target autonomous underwater vehicle; wherein the autonomous underwater vehicle carries a detector;
obtaining an expected scanning path based on the target pier parameters and the working parameters of the detector;
building a simulation environment based on the coordinate system; obtaining an initial PID parameter based on the simulation environment and the kinematics and dynamics model;
and establishing a fuzzy rule base, obtaining the change increment of the PID parameters based on the fuzzy rule base and the expected scanning path, and realizing self-adaptive motion control based on the change increment.
Preferably, the target pier parameters include: the type of pier, the plane shape of the pier, the material of the pier, the height of the underwater part and the physical size corresponding to the plane type of the underwater part.
Preferably, the natural environment parameters include: the depth of water, the speed of water flow, the direction of water flow, the underwater geomorphology structure and the underwater visibility of the water area where the pier is located.
Preferably, after establishing the kinematic and dynamic model of the target autonomous underwater vehicle, the method further comprises:
obtaining a simplified model of a control object based on the kinematics and dynamics model, obtaining a state vector matrix based on the simplified model, and obtaining target aircraft parameters based on the simplified model and the state vector matrix, wherein the target aircraft parameters comprise speed, position and attitude.
Preferably, obtaining the state vector matrix further includes:
and obtaining a state vector of the autonomous underwater vehicle based on the state vector matrix, and adding correction parameters into the state vector to obtain a corrected state vector.
Preferably, the process of obtaining the desired scanning path includes:
the detector operating parameters include: working distance and underwater visibility; and obtaining a distance correction value based on the underwater visibility, adjusting the working distance based on the distance correction value, and obtaining an expected scanning path based on the plane shape of the pier and the adjusted working distance.
Preferably, the process of obtaining the desired scanning path further comprises:
when the autonomous underwater vehicle completes the flaw detection task of the first bridge pier in the top-down direction, the autonomous underwater vehicle moves from the water bottom to the second bridge pier to complete the flaw detection task of the second bridge pier in the bottom-up mode, and the rest bridge piers plan movement paths according to the mode.
Preferably, the process of obtaining the initial PID parameters includes:
and obtaining a PID parameter calculation formula of the control object based on the target aircraft parameter, and obtaining an initial PID parameter based on the PID parameter calculation formula.
Preferably, the process of obtaining the change increment of the PID parameter includes:
and acquiring real-time acquired natural environment data based on the expected scanning path, inputting the natural environment data into the fuzzy rule base to acquire a fuzzy output value, and acquiring the change increment of the PID parameter based on the fuzzy output value.
The invention has the technical effects that:
the method comprises the steps of determining expected detection paths of all piers according to working parameters of sensors carried by the AUV; then, determining initial PID control parameters by collecting real-time water flow data and water bottom landform data around the AUV and combining an expected detection path with the AUV kinematics and dynamics model; and constructing a fuzzy rule base according to the PID control theory and the acquired natural environment parameters, real-time water flow data and water bottom landform data, and forming an adaptive control method on the basis of the initial PID control parameters.
The method can solve the problem that no complete motion control method is available for performing the pier flaw detection task by using the AUV, has self-adaptability, can correct the motion attitude and position of the AUV in real time according to data collected by a detector carried by the AUV so as to adapt to a complex underwater environment and turbulent flow near the pier, and does not need personnel control, thereby improving the working efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a flow chart of a method in an embodiment of the invention;
FIG. 2 is a schematic diagram of coordinate axes established by taking a circular pier as an example in the embodiment of the present invention;
fig. 3 is a schematic diagram of the circular pier as an example for establishing the expected task path in the embodiment of the invention.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
Example one
As shown in fig. 1, the present embodiment provides an autonomous underwater vehicle motion control method for pier inspection, including:
collecting relevant parameters of a target pier and natural environment parameters of a water area where the target pier is located, and establishing a coordinate system;
establishing a kinematics and dynamics model of an Autonomous Underwater Vehicle (AUV);
according to the collected relevant parameters of the target pier, the natural environment parameters of the water area where the target pier is located and the working parameters of the detector carried by the AUV, an expected scanning path is made;
establishing a simulation environment according to the pier parameters and the natural environment parameters, and obtaining an initial PID parameter which enables the AUV motion trail to be converged to the expected scanning path based on the kinematics and dynamics model of the target AUV;
and further optimizing according to the simulation result, and constructing a self-adaptive motion control method.
The specific method comprises the following steps:
collecting relevant parameters of a target pier and natural environment parameters of a water area where the target pier is located, and establishing a coordinate system as shown in figure 2.
The relevant parameters of the target pier comprise: the type of pier (solid pier, pillar pier, bent pier, etc.), the plan shape (rectangular pier, pointed pier, circular pier, etc.), the pier material, the height h of the underwater part and the physical dimensions corresponding to the plan shape, e.g. for a circular pier should include its radius r dun 。
The natural environment parameters of the water area specifically include: depth d of water in area of bridge pier water In the unit m; velocity v of water flow water In m/s, embodied as a 6 x 1 matrix v water ＝[u water ,v water ,w water ,p water ,q water ,r water ]Direction of water flow d i-water Embodied as a 3 x 1 matrix
Figure BDA0003893817380000051
Underwater landform structure and underwater visibility L visibility 。
2, establishing a kinematics and dynamics model of an Autonomous Underwater Vehicle (AUV); the method specifically comprises the following steps:
the generalized kinematic and kinetic formula of the target AUV is as follows:
Figure BDA0003893817380000052
wherein
Figure BDA0003893817380000053
Is a velocity matrix of the AUV in the natural coordinate system (North-East coordinate system), J k (η) is a coordinate system transformation matrix, v r Is a linear velocity matrix of AUV under a Body coordinate system (Body-fixed coordinate system), v c Is an angular velocity matrix of the AUV under an own coordinate system, M is an AUV quality matrix,
Figure BDA0003893817380000061
is AUV linear acceleration matrix, C (v) r ) Is AUV Coriolis centripetal matrix, D (v) r ) The AUV damping matrix is obtained, g (eta) is AUV restoring force which comprises gravity and buoyancy force borne by the AUV, and tau is generalized control force;
the object is explicitly controlled on this generalized kinematics and dynamics model.
Further, the explicitly controlling the object on the generalized kinematics and dynamics model specifically includes:
rudder angle delta of target AUV r Fin angle delta s And forward propulsion X of AUV propeller prop ；
Constructing a kinematics and dynamics model of a control object aiming at the motion control method based on a target AUV generalized kinematics and dynamics model:
the simplified model is as follows:
Figure BDA0003893817380000062
where Σ X ext 、∑Y ext 、∑Z ext 、∑K ext 、∑M ext 、∑N ext Is the sum of the force and the moment borne by the target AUV in six degrees of freedom, X HS 、Y HS 、Z HS 、K HS 、M HS 、N HS Target AUV six selfBy the restoring force, X, exerted in the direction of degrees coupling 、Y coupling 、Z coupling 、K coupling 、M coupling 、N coupling The coupling force X obtained by calculation of hydrodynamic parameters in six freedom directions of a target AUV prop Forward propulsion of the AUV propeller, u is the linear velocity in the direction of the axis AUVx, Y uuδr 、N uuδr Is a hydrodynamic parameter of the AUV in two degrees of freedom influenced by changes in rudder angle, the parameter being obtained by a real-vessel test, Z uuδs 、M uuδs Is a hydrodynamic parameter of AUV under two degrees of freedom influenced by the change of the fin angle, and the parameter is obtained by a real ship test, delta r Is the rudder angle, delta s Is a fin angle;
to obtain the state vector of the AUV, based on the simplified model, a representation matrix of the AUV state vector is given:
Figure BDA0003893817380000071
wherein
Figure BDA0003893817380000072
Is a 6 x 1 matrix whose internal values are in the form of the first derivative of the AUV state vector, embodied as
Figure BDA0003893817380000073
Wherein
Figure BDA0003893817380000074
In the form of the first derivative of the linear velocity in the x, y and z axes of the AUV,
Figure BDA0003893817380000075
in the form of the first derivative of the angular velocity in the x, y, z axes of the AUV, K kinematics -1 Is a 6-by-6 matrix with internal values of kinematic expressions containing hydrodynamic parameters of AUV, M, corresponding one-to-one to six degrees of freedom total Is a 6 x 1 matrix with internal values of six of the target AUVThe sum of force and moment applied by degree is expressed as M t otal＝[∑X ext ,∑Y ext ,∑Z ext ,∑K ext ,∑M ext ,∑N ext ] T ；
On the basis of the model and the matrix, the speed, the position and the attitude of the AUV are solved by using numerical integration.
Further, the using numerical integration to solve the speed, position and attitude of the AUV specifically includes:
an AUV speed, position and attitude calculation formula based on the improved Euler method is given:
Figure BDA0003893817380000076
wherein
Figure BDA0003893817380000077
12 State vectors, x, to describe AUV velocity, position and attitude n And x n+1 To describe the sign of x the current and next time instants, u = [ δ = r ,δ s ,X prop ] T To input desired values, u n And u n+1 Is a symbol describing u the current time and the next time;
considering the working environment of the AUV and the natural environment parameters of the water area where the pier is located, correction parameters are added into the state vector to eliminate the influence caused by turbulence near the pier, avoid collision between the AUV and the underwater environment, and provide the corrected state vector:
Figure BDA0003893817380000081
3, according to the collected relevant parameters of the target pier, the natural environment parameters of the water area where the target pier is located and the working parameters of the AUV-carried detector, making an expected scanning path, as shown in FIG. 3; the method specifically comprises the following steps:
work parameter system of detector which is set to be expected to scan and measured according to relevant parameters of bridge pier and AUV (autonomous Underwater vehicle)And determining the plane shape of the pier, the working distance of the detector and the underwater visibility L visibility Determining;
in order to ensure that the underwater part of the pier is comprehensively detected, the expected path of the AUV is a spiral descending/ascending curve, the plane shape of the curve is determined according to the plane shape of the pier, and if the plane shape of the curve is a circle for a circular pier;
in order to ensure that the detector carried by the AUV works normally, the AUV and the bridge pier should keep a certain distance, and the distance should be the optimal working distance L of the detector work Determined by the working parameters of the detector;
and (3) giving a plane shape size calculation formula of the AUV working path:
for a circular pier, the working radius r of the AUV work The method comprises the following steps:
r work ＝r dun +L work *f(L visibility )；
in the case of a rectangular pier, the plane shape of the working path of the AUV should also be a rectangle, and the parameters are:
Figure BDA0003893817380000082
wherein f (L) visibility ) For the distance correction value calculated based on underwater visibility, a calculation formula of the value is given:
Figure BDA0003893817380000091
wherein mu is the linear attenuation coefficient of light in water, k is the contrast attenuation coefficient in water, and alpha is the included angle between the observation direction of the detector and the zenith direction;
when the AUV completes the flaw detection task of the first pier (pier) in the top-down direction, the autonomous underwater vehicle moves from the bottom to the next pier (pier) and completes the flaw detection task of the second pier in the bottom-up mode, and the rest piers plan the motion path according to the mode.
4, building a simulation environment according to the pier parameters and the natural environment parameters, and obtaining an initial PID parameter which enables the AUV motion trail to be converged to the expected scanning path based on the kinematics and the dynamic model of the target AUV, and the method further comprises the following steps:
and (3) giving a PID parameter calculation formula:
Figure BDA0003893817380000092
where u (t) is a time-varying output value, K p E (T) is the difference (error) between the expected and actual values over time, T, a scaling factor i For integration time, T d Is the differential time;
coupling the target AUV speed, position and attitude calculation formula with the simplified target AUV speed, position and attitude calculation formula to obtain a PID parameter calculation formula for the control object:
Figure BDA0003893817380000093
wherein K py 、T iy 、T dy Is the PID parameter, K, of the course (y) controller of the target AUV pz 、T iz 、T dz PID parameter, K, of depth (z) controller for target AUV py 、T iy 、T dy And K pz 、T iz 、T dz And constructing the self-adaptive motion control method based on the initial PID parameters as the initial PID parameters.
And 5, further optimizing according to the simulation result, and constructing a self-adaptive motion control method. The method specifically comprises the following steps:
the self-adaptive motion control method is constructed by a fuzzy PID control method;
and (3) giving a parameter calculation formula of the fuzzy PID:
Figure BDA0003893817380000101
wherein, taking PID parameter of y axis as an example,
Figure BDA0003893817380000102
as initial PID parameter, Δ k p (t)、Δk I (t)、Δk D (t) is the variation increment corresponding to the parameters P, I and D respectively;
the method comprises the steps of acquiring the current speed, position and attitude information of the AUV and the current natural environment information of the AUV in real time through a plurality of sensors arranged on the AUV, wherein the information comprises the water depth d of a water area where the AUV is located water In the unit m; velocity v of water flow water In m/s; direction of water flow d i-water Water bottom landform structure and underwater illumination degree;
establishing a fuzzy rule base according to the related data collected in the early stage, and determining membership functions of various indexes; and dividing natural environment data acquired by the sensor in real time into different intervals through the membership function, and formulating corresponding fuzzy rules.
Taking relevant information acquired by a sensor in real time as input;
giving an output value Δ k p (t)、Δk I (t)、Δk D (t) the calculation formula:
Figure BDA0003893817380000103
wherein, FS P 、FS I 、FS D Is the output value, OW, of the fuzzy rule base P 、OW I 、OW D Is the corresponding weight of the output value.
The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (9)

1. An autonomous underwater vehicle motion control method for pier flaw detection is characterized by comprising the following steps:
acquiring target pier parameters and natural environment parameters of a water area where the target pier parameters are located, and establishing a coordinate system based on the target pier parameters and the natural environment parameters;
establishing a kinematics and dynamics model of the target autonomous underwater vehicle; wherein the autonomous underwater vehicle carries a detector;
obtaining an expected scanning path based on the target pier parameters and the working parameters of the detector;
building a simulation environment based on the coordinate system; obtaining an initial PID parameter based on the simulation environment and the kinematics and dynamics model;
and establishing a fuzzy rule base, obtaining the change increment of the PID parameters based on the fuzzy rule base and the expected scanning path, and realizing self-adaptive motion control based on the change increment.
2. The autonomous underwater vehicle motion control method for pier inspection according to claim 1, characterized in that said target pier parameters comprise: the type of the pier, the plane shape of the pier, the material of the pier, the height of the underwater part and the physical size corresponding to the plane type of the underwater part.
3. The autonomous underwater vehicle motion control method for pier inspection according to claim 1, characterized in that said natural environment parameters comprise: the depth of water, the speed of water flow, the direction of water flow, the underwater geomorphology structure and the underwater visibility of the water area where the pier is located.
4. The autonomous underwater vehicle motion control method for pier inspection according to claim 1, wherein the establishing of the kinematic and dynamic model of the target autonomous underwater vehicle further comprises:
obtaining a simplified model of a control object based on the kinematics and dynamics model, obtaining a state vector matrix based on the simplified model, and obtaining target aircraft parameters based on the simplified model and the state vector matrix, wherein the target aircraft parameters comprise speed, position and attitude.
5. The autonomous underwater vehicle motion control method for pier inspection according to claim 4, further comprising, after obtaining the state vector matrix:
and obtaining a state vector of the autonomous underwater vehicle based on the state vector matrix, and adding correction parameters into the state vector to obtain a corrected state vector.
6. The autonomous underwater vehicle motion control method for pier inspection according to claim 1, wherein the process of obtaining a desired swept path comprises:
the detector operating parameters include: working distance and underwater visibility; and obtaining a distance correction value based on the underwater visibility, adjusting the working distance based on the distance correction value, and obtaining an expected scanning path based on the plane shape of the pier and the adjusted working distance.
7. The method for controlling motion of an autonomous underwater vehicle for pier inspection according to claim 1, wherein the process of obtaining the desired swept path is followed by:
when the autonomous underwater vehicle completes the flaw detection task of the first bridge pier in the top-down direction, the autonomous underwater vehicle moves from the water bottom to the second bridge pier to complete the flaw detection task of the second bridge pier in the bottom-up mode, and the rest bridge piers plan movement paths according to the mode.
8. The autonomous underwater vehicle motion control method for pier inspection according to claim 4, wherein the process of obtaining initial PID parameters comprises:
and obtaining a PID parameter calculation formula of the control object based on the target aircraft parameter, and obtaining an initial PID parameter based on the PID parameter calculation formula.
9. The autonomous underwater vehicle motion control method for pier inspection according to claim 1, wherein the process of obtaining the change increment of the PID parameter comprises:
and acquiring real-time acquired natural environment data based on the expected scanning path, inputting the natural environment data into the fuzzy rule base to acquire a fuzzy output value, and acquiring the change increment of the PID parameter based on the fuzzy output value.
CN202211267918.3A 2022-10-17 2022-10-17 Autonomous underwater vehicle motion control method for pier flaw detection Pending CN115562313A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117590756A (en) * 2024-01-19 2024-02-23 清华大学 Motion control method, device, equipment and storage medium for underwater robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117590756A (en) * 2024-01-19 2024-02-23 清华大学 Motion control method, device, equipment and storage medium for underwater robot
CN117590756B (en) * 2024-01-19 2024-04-19 清华大学 Motion control method, device, equipment and storage medium for underwater robot

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