CN116588293A - Towed underwater robot and navigation depth setting control method thereof - Google Patents
Towed underwater robot and navigation depth setting control method thereof Download PDFInfo
- Publication number
- CN116588293A CN116588293A CN202310669156.8A CN202310669156A CN116588293A CN 116588293 A CN116588293 A CN 116588293A CN 202310669156 A CN202310669156 A CN 202310669156A CN 116588293 A CN116588293 A CN 116588293A
- Authority
- CN
- China
- Prior art keywords
- underwater robot
- underwater
- depth
- propeller
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000013461 design Methods 0.000 claims abstract description 6
- 238000004364 calculation method Methods 0.000 claims description 27
- 238000013178 mathematical model Methods 0.000 claims description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 238000004422 calculation algorithm Methods 0.000 claims description 12
- 230000002068 genetic effect Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 12
- 238000004458 analytical method Methods 0.000 claims description 7
- 230000035772 mutation Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000006880 cross-coupling reaction Methods 0.000 claims description 3
- 238000004836 empirical method Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000036039 immunity Effects 0.000 claims description 2
- 238000007789 sealing Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 108010066057 cabin-1 Proteins 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A towed underwater robot and a navigation depth setting control method thereof belong to the technical field of underwater robot control. The depth-setting control method aims at solving the problem of accurate depth-setting control of the underwater robot. The application is characterized in that a communication module and an industrial personal computer are arranged in a sealing cabin, and a detection device, an underwater depth sensor, a propeller, a lifting mechanism and a power supply are arranged outside the sealing cabin; the industrial personal computer is connected with the communication module, the detection device, the underwater depth sensor, the propeller, the lifting mechanism and the power supply; the power supply is connected with the detection device, the underwater depth sensor, the propeller and the lifting mechanism; the propeller is a vertical plane propeller and is used for realizing the heave motion of a towed underwater robot; the detection device is used for receiving and sending signals; the underwater depth sensor is for detecting underwater depth data. The application realizes the depth control under the complex environment by installing the propeller on the vertical plane of the towing type underwater robot to realize the up-and-down adjustment, gives out a dynamic model, designs the active disturbance rejection depth-fixing controller and realizes the depth control function.
Description
Technical Field
The application belongs to the technical field of underwater robot control, and particularly relates to a towed underwater robot and a navigation depth setting control method thereof.
Background
Because of the danger and complexity of the submarine environment, the manned underwater operation is dangerous, so that the research on an unmanned underwater detector with high technology is urgently required, the towed underwater robot is generated as a marine detection carrier with high and new technology, the research and development of the towed underwater robot are products in the time background, and the towed underwater robot is an organic combination of science and technology and information. At present, a plurality of towing type underwater robots of different types are put into use successively, and play a great role in developing and utilizing ocean for human beings.
At present, research on the aspect of controlling the fixed depth of the towed underwater robot at home and abroad mainly comprises three directions of underwater suspension fixed depth towing or towing cable stage grading, towing cable winding and unwinding and towing cable control and towing steering engine or propeller control of the towed underwater robot. Anirban Nag et al realize the control of course angle, pitch angle and depth of AUV at the same time through the fuzzy logic controller; the scholars Wang Wei and the like design a fuzzy neural network, optimize and adjust parameters of the sliding mode variable structure controller, and control the depth of the underwater robot.
However, the towed underwater robot is interfered in two aspects of a towing rope and an environment when in motion, the towing rope interference comprises flow field interference, self vibration interference and towing ship interference, so that the stress analysis of the towing rope and a towed body of the towed underwater robot is very complex, in addition, the motion is a real-time change process, the motion system of the towed underwater robot is strong in nonlinearity, modeling analysis is difficult, and the depth control is difficult to accurately realize.
Disclosure of Invention
The application aims to solve the problem of accurate fixed-depth control of an underwater robot, and provides a towed underwater robot and a navigation fixed-depth control method thereof.
In order to achieve the above purpose, the present application is realized by the following technical scheme:
scheme one: a towed underwater robot comprises a sealed cabin, a communication module, an industrial personal computer, a detection device, an underwater depth sensor, a propeller, a lifting mechanism and a power supply;
the sealing cabin is internally provided with a communication module and an industrial personal computer, and a detection device, an underwater depth sensor, a propeller, a lifting mechanism and a power supply are arranged outside the sealing cabin;
the industrial personal computer is respectively connected with the communication module, the detection device, the underwater depth sensor, the propeller, the lifting mechanism and the power supply;
the power supply is respectively connected with the detection device, the underwater depth sensor, the propeller and the lifting mechanism;
the propeller is a vertical plane propeller and is used for realizing the heave motion of a towed underwater robot;
the detection device is used for receiving and sending signals;
the underwater depth sensor is used for detecting underwater depth data.
Further, the motor of the propeller is a direct-current three-item brushless motor, and the propeller is driven to rotate by the rotation of the motor of the propeller.
Further, the calculation formula of the underwater depth H of the underwater depth sensor is as follows:
P＝ρgH+P 0
wherein P is the current pressure value, ρ is the fluid density, P 0 Is at atmospheric pressure.
Scheme II: a navigation depth setting control method of a towed underwater robot comprises the following steps:
s1, acquiring underwater depth data of an underwater robot by an underwater depth sensor, wherein the underwater robot is a towed underwater robot in the first technical scheme;
s2, constructing a mathematical model of the underwater robot, and then carrying out underwater mechanical analysis on the underwater robot to construct a vertical plane dynamics mathematical model of the underwater robot;
s3, constructing a vertical plane dynamics mathematical model of the underwater robot based on the step S2, designing a constant-depth motion controller for active disturbance rejection control based on an immune genetic algorithm, and realizing stable constant-depth motion of the underwater robot under the conditions that the navigation speed of the underwater robot is within 2 knots and the underwater robot is interfered;
s4, judging whether the underwater robot meets the expected underwater depth based on the underwater depth data acquired in the step S1, and restarting the control of a new round of underwater robot if the underwater robot does not meet the expected underwater depth by taking the acquired underwater depth data as feedback until the underwater robot meets the underwater depth requirement.
Further, the implementation method of the step S2 includes the following steps:
s2.1, setting a six-degree-of-freedom kinematic equation of the underwater robot as follows:
wherein x is g ,y g ,z g Respectively the gravity center positions of the underwater robots, I xx ,I yy ,I zz The moment of inertia of the underwater robot around X, Y and Z axes is X, Y, Z, K, M, N, X, Y and Z axesThe speed and the angular speed are u, v, w, p, q and r respectively;
s2.2, analyzing the force acted on the underwater robot by the water, wherein the calculation formula of the resultant force born by the underwater robot is as follows:
F＝F T +W+F L +f+B
wherein F is the resultant force born by the underwater robot, F T Is towing force of towing rope, W is gravity, B is buoyancy, F L Is hydrodynamic force, f is the thrust of the propeller;
the calculation formula of the water resistance of the antenna carried by the underwater robot on the head-on surface is as follows:
wherein F is LX F is the component force of the water resistance force axially applied to the antenna LY The antenna is radially subjected to a component force of water resistance, A is the plane area of the antenna, v is the water speed of a windward side, and gamma is an included angle formed by the water flow direction and the axial direction of the underwater robot;
the calculation formula of the restoring force vector g (eta) generated by gravity and buoyancy is as follows:
the towing rope is stressed on the underwater robot body in three directions, and the calculation formula is as follows:
s2.3, constructing a mathematical model of the thrust T of the propeller, wherein the mathematical model is as follows:
T＝ρn 2 D 4 K T
wherein K is T The thrust coefficient is ρ, the sea water density, D the diameter of the propeller, and n the rotating speed of the propeller;
s2.4, constructing a vertical plane dynamics mathematical model of the underwater robot based on the steps, wherein the vertical plane dynamics mathematical model comprises the following steps:
wherein m is the mass of the underwater robot, x g ,y g ,z g Respectively the gravity center position and X of the underwater robot T X is the end tension of the streamer hs ,Z hs ,M hs Respectively the static force pitching moment in the transverse vertical direction; z is Z uw For lift coefficient, M uw Is a lifting force moment; x is X u|u| Z is the axial resistance coefficient w|w| ,Z q|q| ,M w|w| ,M q|q| As a coefficient of lateral resistance,a force is added for the axial inertia and,to apply force to the lateral flow X wq ,Z uq ,/>Z uw ,M uq ,M uw For cross-coupling inertial forces, T is propulsor thrust, F LX F LY Component forces of water resistance force applied by the detection device in the axial direction and the radial direction respectively, Z T ,X T Is a component force of the towing force applied to the underwater robot in the axial direction and the vertical direction.
Further, the implementation method of the step S3 includes the following steps:
s3.1 designing a differential tracker to set the depth z 0 For a desired depth to track the desired depth, a target differential is obtained to eliminate differential errors, and a mathematical model of the differential tracker is:
wherein x is 1 To track the approximate differential signal of the inputThe number r is a fast factor, h is a filtering factor, and fhan is a fastest control comprehensive function;
and has the following calculation formula:
s3.2, designing an extended state observer by using the output z and the input u of the underwater robot, wherein the mathematical model of the extended state observer is as follows:
wherein beta is 01 ,β 02 ,β 03 Is the gain coefficient, z 1 For the estimated value of the current actual depth z, b is the input signal delta s Delta is an adjustable parameter, and a sign function in the function fal is replaced by a sigmoid function;
s3.3, designing an error feedback law and disturbance compensation of the underwater robot on the nonlinear state, wherein the expression is as follows:
wherein e 1 For depth value deviation e 2 For the rate of change of the depth value deviation, delta s Outputting a value for an input signal, namely a controller; beta 1 ,β 2 Is nonlinear error feedback;
s3.4, designing a fixed depth motion controller for active disturbance rejection control based on an immune genetic algorithm.
Further, the implementation method of step S3.4 includes the following steps:
s3.4.1, the calculation formula for setting probability selection based on antibody concentration is:
wherein ρ (x i ) For the prescribed antibody f (x i ) Distance on one non-empty immune set X;
antibody coding is carried out on parameters to be optimized, a parameter standard is selected by adopting an empirical method, and an immune genetic method is utilized for design;
s3.4.2, designing an objective function based on the parameter standard selected in the step S3.4.1, where the expression is:
wherein e (t) is the error value of the system, u (t) is the output value of the controller, t u For rise time, w 1 ,w 2 ,w 3 ,w 4 As the weight, y (t) is the output value of the underwater robot system, and y (t) is the overshoot;
the fitness function is designed to:
wherein A is a constant larger than 0, so that overflow of the algorithm caused by that the denominator is close to 0 is avoided;
s3.4.3, performing diversity maintenance and population update on the objective function obtained in the step S3.4.2 by using a probability selection formula of the antibody concentration constructed in the step S3.4.1;
s3.4.4 the objective function is crossed and mutated by adopting the mutation rate p which is adaptively adjusted m And performing mutation, wherein the calculation formula is as follows:
wherein: f (f) max Is the maximum value of fitness in the population, f avg For the average fitness value of each generation of population, f min F is the minimum adaptation value of the active disturbance rejection control parameter set to be mutated;
by crossingFork rate p c The calculation formula of (2) is as follows:
wherein f' is the largest fitness value among the two sets of intersecting parameters.
The application has the beneficial effects that:
according to the depth control method of the towed underwater robot, depth control is achieved by controlling the propeller of the towed underwater robot, a more advanced and reliable control strategy is adopted to achieve a precise control means, and aiming at the problem that the active disturbance rejection control parameters are more and are not easy to adjust, the immune genetic algorithm is adopted to optimize part of parameters in the active disturbance rejection controller, so that the adjustment efficiency of the active disturbance rejection controller is improved.
The towed underwater robot provided by the application effectively solves the problem of resisting ocean current interference under the condition of large interference in water, and can achieve the expected depth position and maintain unchanged by controlling the propeller, so as to achieve the goal of depth control;
the towed underwater robot disclosed by the application has the advantages that the structure is compact, the space utilization is reasonable, the characteristics of the underwater robot structure are fully utilized, the disturbance of a body is reduced as much as possible, and the appearance structure has stronger capability of resisting external disturbance;
the application discloses a depth control method of a towed underwater robot, which is suitable for model control under the condition of larger disturbance, aims to solve the problem of depth control under the condition of large disturbance underwater, is suitable for being combined with the active disturbance control, and aims at overcoming the defects in the active disturbance control by adopting an immune genetic algorithm so as to realize accurate depth control, thereby providing an effective reference scheme for the depth control of the underwater robot, and having important practical engineering significance and theoretical value.
Drawings
FIG. 1 is a schematic block diagram of a towed underwater robot according to the present application;
FIG. 2 is a schematic diagram of a towed underwater robot according to the present application;
FIG. 3 is a schematic diagram of a propeller drive circuit for a towed underwater robot in accordance with the present application;
FIG. 4 is a hydrodynamic force simulation analysis diagram of a towed underwater robot according to the present application;
FIG. 5 is a flow chart of a method for controlling the depth of a towed underwater robot according to the present application;
FIG. 6 is a flowchart of an immune genetic algorithm in a method for controlling the depth of a towed underwater robot according to the present application;
FIG. 7 is a fitting curve of the stress of the head-on in the method for controlling the depth of a towed underwater robot according to the present application;
fig. 8 is a flow chart of active disturbance rejection depth control in a method for controlling depth of a towed underwater robot according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings and detailed description. It should be understood that the embodiments described herein are for purposes of illustration only and are not intended to limit the application, i.e., the embodiments described are merely some, but not all, of the embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein can be arranged and designed in a wide variety of different configurations, and the present application can have other embodiments as well.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to fall within the scope of the present application.
For a further understanding of the application, its aspects, features and advantages, reference should be made to the following detailed description taken in conjunction with the accompanying drawings, in which:
the first embodiment is as follows:
a towed underwater robot comprises a sealed cabin 1, a communication module 2, an industrial personal computer 3, a detection device 4, an underwater depth sensor 5, a propeller 6, a lifting mechanism 7 and a power supply 8;
a communication module 2 and an industrial personal computer 3 are arranged in the sealed cabin 1, and a detection device 4, an underwater depth sensor 5, a propeller 6, a lifting mechanism 7 and a power supply 8 are arranged outside the sealed cabin 1;
the industrial personal computer 3 is respectively connected with the communication module 2, the detection device 4, the underwater depth sensor 5, the propeller 6, the lifting mechanism 7 and the power supply 8;
the power supply 8 is respectively connected with the detection device 4, the underwater depth sensor 5, the propeller 6 and the lifting mechanism 7;
the propeller 6 is a vertical-plane propeller and is used for realizing the heave motion of a towed underwater robot;
the detecting device 4 is used for receiving and sending signals;
the underwater depth sensor 5 is for detecting underwater depth data.
Further, the motor of the propeller 6 is a direct current three-item brushless motor, and the propeller is driven to rotate by the rotation of the motor of the propeller 6.
Further, the calculation formula of the underwater depth H of the underwater depth sensor 5 is as follows:
P＝ρgH+P 0
wherein P is the current pressure value, ρ is the fluid density, P 0 Is at atmospheric pressure.
The second embodiment is as follows:
a navigation depth setting control method of a towed underwater robot is realized by the towed underwater robot according to the first embodiment, and comprises the following steps:
s1, an underwater depth sensor collects underwater depth data of an underwater robot;
s2, constructing a mathematical model of the underwater robot, and then carrying out underwater mechanical analysis on the underwater robot to construct a vertical plane dynamics mathematical model of the underwater robot;
further, the implementation method of the step S2 includes the following steps:
s2.1, setting a six-degree-of-freedom kinematic equation of the underwater robot as follows:
wherein x is g ,y g ,z g Respectively the gravity center positions of the underwater robots, I xx ,I yy ,I zz The moment of inertia of the underwater robot around X, Y and Z axes is respectively X, Y, Z, K, M, N, and the linear velocity and the angular velocity of the underwater robot around X, Y and Z axes are respectively u, v, w, p, q and r;
s2.2, analyzing the force acted on the underwater robot by the water, wherein the calculation formula of the resultant force born by the underwater robot is as follows:
F＝F T +W+F L +f+B
wherein F is the resultant force born by the underwater robot, F T Is towing force of towing rope, W is gravity, B is buoyancy, F L Is hydrodynamic force, f is the thrust of the propeller;
the calculation formula of the water resistance of the antenna carried by the underwater robot on the head-on surface is as follows:
wherein F is LX F is the component force of the water resistance force axially applied to the antenna LY The antenna is radially subjected to a component force of water resistance, A is the plane area of the antenna, v is the water speed of a windward side, and gamma is an included angle formed by the water flow direction and the axial direction of the underwater robot;
the calculation formula of the restoring force vector g (eta) generated by gravity and buoyancy is as follows:
the towing rope is stressed on the underwater robot body in three directions, and the calculation formula is as follows:
s2.3, constructing a mathematical model of the thrust T of the propeller, wherein the mathematical model is as follows:
T＝ρn 2 D 4 K T
wherein K is T The thrust coefficient is ρ, the sea water density, D the diameter of the propeller, and n the rotating speed of the propeller;
s2.4, constructing a vertical plane dynamics mathematical model of the underwater robot based on the steps, wherein the vertical plane dynamics mathematical model comprises the following steps:
wherein m is the mass of the underwater robot, x g ,y g ,z g Respectively the gravity center position and X of the underwater robot T X is the end tension of the streamer hs ,Z hs ,M hs Respectively the static force pitching moment in the transverse vertical direction; z is Z uw For lift coefficient, M uw Is a lifting force moment; x is X u|u| Z is the axial resistance coefficient w|w| ,Z q|q| ,M w|w| ,M q|q| As a coefficient of lateral resistance,a force is added for the axial inertia and,to apply force to the lateral flow X wq ,Z uq ,/>Z uw ,M uq ,M uw For cross-coupling inertial forces, T is propulsor thrust, F LX F LY Component forces of water resistance force applied by the detection device in the axial direction and the radial direction respectively, Z T ,X T Component force of the towing force applied to the underwater robot in the axial direction and the vertical direction;
s3, designing a fixed-depth motion controller based on the immunity genetic algorithm for the active disturbance rejection control based on the vertical plane dynamics mathematical model of the underwater robot constructed in the step S2, and realizing stable fixed-depth motion of the underwater robot under the conditions that the line speed of the underwater robot is within 2 knots and the underwater robot is disturbed;
further, the implementation method of the step S3 includes the following steps:
s3.1 designing a differential tracker to set the depth z 0 For a desired depth to track the desired depth, a target differential is obtained to eliminate differential errors, and a mathematical model of the differential tracker is:
wherein x is 1 For tracking an input approximate differential signal, r is a fast factor, h is a filtering factor, and fhan is a fastest control integrated function;
and has the following calculation formula:
s3.2, designing an extended state observer by using the output z and the input u of the underwater robot, wherein the mathematical model of the extended state observer is as follows:
wherein beta is 01 ,β 02 ,β 03 Is the gain coefficient, z 1 For the estimated value of the current actual depth z, b is the input signal delta s Delta is an adjustable parameter, in the function falThe sign function of (2) is replaced by a sigmoid function;
s3.3, designing an error feedback law and disturbance compensation of the underwater robot on the nonlinear state, wherein the expression is as follows:
wherein e 1 For depth value deviation e 2 For the rate of change of the depth value deviation, delta s Outputting a value for an input signal, namely a controller; beta 1 ,β 2 Is nonlinear error feedback;
s3.4, designing a fixed depth motion controller for active disturbance rejection control based on an immune genetic algorithm;
further, the implementation method of step S3.4 includes the following steps:
s3.4.1, the calculation formula for setting probability selection based on antibody concentration is:
wherein ρ (x i ) For the prescribed antibody f (x i ) Distance on one non-empty immune set X;
antibody coding is carried out on parameters to be optimized, a parameter standard is selected by adopting an empirical method, and an immune genetic method is utilized for design;
s3.4.2, designing an objective function based on the parameter standard selected in the step S3.4.1, where the expression is:
wherein e (t) is the error value of the system, u (t) is the output value of the controller, t u For rise time, w 1 ,w 2 ,w 3 ,w 4 As the weight, y (t) is the output value of the underwater robot system, and y (t) is the overshoot;
the fitness function is designed to:
wherein A is a constant larger than 0, so that overflow of the algorithm caused by that the denominator is close to 0 is avoided;
s3.4.3, performing diversity maintenance and population update on the objective function obtained in the step S3.4.2 by using a probability selection formula of the antibody concentration constructed in the step S3.4.1;
s3.4.4 the objective function is crossed and mutated by adopting the mutation rate p which is adaptively adjusted m And performing mutation, wherein the calculation formula is as follows:
wherein: f (f) max Is the maximum value of fitness in the population, f avg For the average fitness value of each generation of population, f min F is the minimum adaptation value of the active disturbance rejection control parameter set to be mutated;
the crossover rate p employed c The calculation formula of (2) is as follows:
wherein f' is the largest fitness value among the two sets of intersecting parameters.
S4, judging whether the underwater robot meets the expected underwater depth based on the underwater depth data acquired in the step S1, and restarting the control of a new round of underwater robot if the underwater robot does not meet the expected underwater depth by taking the acquired underwater depth data as feedback until the underwater robot meets the underwater depth requirement.
As shown in fig. 7: by fitting the axial stress analysis of the underwater robot at different speeds through hydrodynamic simulation software, the axial stress is approximately in direct proportion to the square term of the flow velocity. This may provide a certain rationality to the design of the underwater robot.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although the application has been described above with reference to specific embodiments, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, the features of the disclosed embodiments may be combined with each other in any manner so long as there is no structural conflict, and the exhaustive description of these combinations is not given in this specification solely for the sake of brevity and resource saving. Therefore, it is intended that the application not be limited to the particular embodiments disclosed herein, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (7)
1. The towed underwater robot is characterized by comprising a sealed cabin (1), a communication module (2), an industrial personal computer (3), a detection device (4), an underwater depth sensor (5), a propeller (6), a lifting mechanism (7) and a power supply (8);
a communication module (2) and an industrial personal computer (3) are arranged in the sealed cabin (1), and a detection device (4), an underwater depth sensor (5), a propeller (6), a lifting mechanism (7) and a power supply (8) are arranged outside the sealed cabin (1);
the industrial personal computer (3) is respectively connected with the communication module (2), the detection device (4), the underwater depth sensor (5), the propeller (6), the lifting mechanism (7) and the power supply (8);
the power supply (8) is respectively connected with the detection device (4), the underwater depth sensor (5), the propeller (6) and the lifting mechanism (7);
the propeller (6) is a vertical-plane propeller and is used for realizing the heave motion of a towed underwater robot;
the detection device (4) is used for receiving and sending signals;
the underwater depth sensor (5) is for detecting underwater depth data.
2. A towed underwater robot according to claim 1, wherein said motor of said propeller (6) is a dc three-item brushless motor, and said propeller is rotated by the rotation of said motor of said propeller (6).
3. A towed underwater robot according to claim 1 or 2, characterized in that the calculation formula of the underwater depth H of said underwater depth sensor (5) is:
P＝ρgH+P 0
wherein P is the current pressure value, ρ is the fluid density, P 0 Is at atmospheric pressure.
4. A method for controlling navigation depth of a towed underwater robot, realized by the towed underwater robot according to any one of claims 1 to 3, comprising the steps of:
s1, an underwater depth sensor collects underwater depth data of an underwater robot;
s2, constructing a mathematical model of the underwater robot, and then carrying out underwater mechanical analysis on the underwater robot to construct a vertical plane dynamics mathematical model of the underwater robot;
s3, designing a constant-depth motion controller based on the immunity genetic algorithm for the active disturbance rejection control based on the vertical plane dynamics mathematical model of the underwater robot constructed in the step S2, and realizing stable constant-depth motion of the underwater robot under the conditions that the navigation speed of the underwater robot is within 2 knots and the underwater robot is interfered;
s4, judging whether the underwater robot meets the expected underwater depth based on the underwater depth data acquired in the step S1, and restarting the control of a new round of underwater robot if the underwater robot does not meet the expected underwater depth by taking the acquired underwater depth data as feedback until the underwater robot meets the underwater depth requirement.
5. The navigation depthkeeping control method of a towed underwater robot of claim 4, wherein the implementation method of step S2 comprises the steps of:
s2.1, setting a six-degree-of-freedom kinematic equation of the underwater robot as follows:
wherein x is g ,y g ,z g Respectively the gravity center positions of the underwater robots, I xx ,I yy ,I zz The moment of inertia of the underwater robot around X, Y and Z axes is respectively X, Y, Z, K, M, N, and the linear velocity and the angular velocity of the underwater robot around X, Y and Z axes are respectively u, v, w, p, q and r;
s2.2, analyzing the force acted on the underwater robot by the water, wherein the calculation formula of the resultant force born by the underwater robot is as follows:
F＝F T +W+F L +f+B
wherein F is the resultant force born by the underwater robot, F T Is towing force of towing rope, W is gravity, B is buoyancy, F L Is hydrodynamic force, f is the thrust of the propeller;
the calculation formula of the water resistance of the antenna carried by the underwater robot on the head-on surface is as follows:
wherein F is LX For receiving the antenna in axial directionComponent force of water resistance, F LY The antenna is radially subjected to a component force of water resistance, A is the plane area of the antenna, v is the water speed of a windward side, and gamma is an included angle formed by the water flow direction and the axial direction of the underwater robot;
the calculation formula of the restoring force vector g (eta) generated by gravity and buoyancy is as follows:
the towing rope is stressed on the underwater robot body in three directions, and the calculation formula is as follows:
s2.3, constructing a mathematical model of the thrust T of the propeller, wherein the mathematical model is as follows:
T＝ρn 2 D 4 K T
wherein K is T The thrust coefficient is ρ, the sea water density, D the diameter of the propeller, and n the rotating speed of the propeller;
s2.4, constructing a vertical plane dynamics mathematical model of the underwater robot based on the steps, wherein the vertical plane dynamics mathematical model comprises the following steps:
wherein m is the mass of the underwater robot, x g ,y g ,z g Respectively the gravity center position and X of the underwater robot T X is the end tension of the streamer hs ,Z hs ,M hs Respectively the static force pitching moment in the transverse vertical direction; z is Z uw For lift coefficient, M uw Is a lifting force moment; x is X u|u| Z is the axial resistance coefficient w|w| ,Z q|q| ,M w|w| ,M q|q| As a coefficient of lateral resistance,to add force for axial inertia->To apply force to the lateral flow X wq ,Z uq ,/>Z uw ,M uq ,M uw For cross-coupling inertial forces, T is propulsor thrust, F LX F LY Component forces of water resistance force applied by the detection device in the axial direction and the radial direction respectively, Z T ,X T Is a component force of the towing force applied to the underwater robot in the axial direction and the vertical direction.
6. The navigation depthkeeping control method of a towed underwater robot of claim 5, wherein the implementation method of step S3 comprises the steps of:
s3.1 designing a differential tracker to set the depth z 0 For a desired depth to track the desired depth, a target differential is obtained to eliminate differential errors, and a mathematical model of the differential tracker is:
wherein x is 1 For tracking an input approximate differential signal, r is a fast factor, h is a filtering factor, and fhan is a fastest control integrated function;
and has the following calculation formula:
s3.2, designing an extended state observer by using the output z and the input u of the underwater robot, wherein the mathematical model of the extended state observer is as follows:
wherein beta is 01 ,β 02 ,β 03 Is the gain coefficient, z 1 For the estimated value of the current actual depth z, b is the input signal delta s Delta is an adjustable parameter, and a sign function in the function fal is replaced by a sigmoid function;
s3.3, designing an error feedback law and disturbance compensation of the underwater robot on the nonlinear state, wherein the expression is as follows:
wherein e 1 For depth value deviation e 2 For the rate of change of the depth value deviation, delta s Outputting a value for an input signal, namely a controller; beta 1 ,β 2 Is nonlinear error feedback;
s3.4, designing a fixed depth motion controller for active disturbance rejection control based on an immune genetic algorithm.
7. The navigation depthkeeping control method of a towed underwater robot of claim 6, wherein the implementation method of step S3.4 comprises the steps of:
s3.4.1, the calculation formula for setting probability selection based on antibody concentration is:
wherein ρ (x i ) For the prescribed antibody f (x i ) Distance on one non-empty immune set X;
antibody coding is carried out on parameters to be optimized, a parameter standard is selected by adopting an empirical method, and an immune genetic method is utilized for design;
s3.4.2, designing an objective function based on the parameter standard selected in the step S3.4.1, where the expression is:
wherein e (t) is the error value of the system, u (t) is the output value of the controller, t u For rise time, w 1 ,w 2 ,w 3 ,w 4 As the weight, y (t) is the output value of the underwater robot system, and y (t) is the overshoot;
the fitness function is designed to:
wherein A is a constant larger than 0, so that overflow of the algorithm caused by that the denominator is close to 0 is avoided;
s3.4.3, performing diversity maintenance and population update on the objective function obtained in the step S3.4.2 by using a probability selection formula of the antibody concentration constructed in the step S3.4.1;
s3.4.4 the objective function is crossed and mutated by adopting the mutation rate p which is adaptively adjusted m And performing mutation, wherein the calculation formula is as follows:
wherein: f (f) max Is the maximum value of fitness in the population, f avg For the average fitness value of each generation of population, f min F is the minimum adaptation value of the active disturbance rejection control parameter set to be mutated;
the crossover rate p employed c The calculation formula of (2) is as follows:
wherein f' is the largest fitness value among the two sets of intersecting parameters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310669156.8A CN116588293A (en) | 2023-06-07 | 2023-06-07 | Towed underwater robot and navigation depth setting control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310669156.8A CN116588293A (en) | 2023-06-07 | 2023-06-07 | Towed underwater robot and navigation depth setting control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116588293A true CN116588293A (en) | 2023-08-15 |
Family
ID=87600807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310669156.8A Pending CN116588293A (en) | 2023-06-07 | 2023-06-07 | Towed underwater robot and navigation depth setting control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116588293A (en) |
-
2023
- 2023-06-07 CN CN202310669156.8A patent/CN116588293A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lea et al. | A comparative study of control techniques for an underwater flight vehicle | |
| CN1718378A (en) | S face control method of flotation under water robot motion | |
| CN112947504B (en) | Autonomous recovery control system and control method for unmanned underwater vehicle | |
| CN109240289A (en) | Wave glider yawing information self-adapting filtering method | |
| Lv et al. | Speed and heading control of an unmanned surface vehicle based on state error pch principle | |
| Pandian et al. | A neuro-fuzzy controller for underwater robot manipulators | |
| Fossen et al. | The NEROV autonomous underwater vehicle | |
| Jing et al. | Self-tuning adaptive active disturbance rejection pitch control of a manta-ray-like underwater glider | |
| Lin et al. | The depth-keeping performance of autonomous underwater vehicle advancing in waves integrating the diving control system with the adaptive fuzzy controller | |
| CN117250971B (en) | Control method of microminiature AUV | |
| CN116819950B (en) | Ship and floating ocean platform dynamic positioning control method and system | |
| Duecker et al. | Parameter identification for micro underwater vehicles | |
| CN106840143A (en) | A kind of method for differentiating underwater robot attitude stabilization | |
| da Silva et al. | Project and control allocation of a 3 DoF autonomous surface vessel with aerial azimuth propulsion system | |
| CN116588293A (en) | Towed underwater robot and navigation depth setting control method thereof | |
| Shikai et al. | Trajectory tracking for underactuated UUV using terminal sliding mode control | |
| CN111258326A (en) | Bionic robot fish roll stability control method based on reaction wheel | |
| Farhan et al. | Sliding mode based MIMO control of autonomous underwater vehicle | |
| Lv et al. | Speed and heading control of unmanned surface vehicle based on IDA-PBC and L2 gain disturbance attenuation approach | |
| Guo et al. | Study on autonomous hovering of the spherical underwater robot based on fuzzy pd controller | |
| Meng et al. | Trajectory‐tracking control of an unmanned surface vehicle based on characteristic modelling approach: Implementation and field testing | |
| Guo et al. | Adaptive control of an autonomous underwater vehicle testbed using neural networks | |
| Yu | Saturated backstepping control for boat with disturbance estimator | |
| Xiong et al. | Quasi-lpv modeling and identification for a water-jet propulsion usv: An experimental study | |
| Aruna | Mathematical modeling and stability analysis of an effective design of biomimetic AUV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |