CN117472084A - Butt joint control method and device in under-actuated underwater robot butt joint process - Google Patents
Butt joint control method and device in under-actuated underwater robot butt joint process Download PDFInfo
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Abstract
In order to solve the technical problems in the prior art that the position and posture tracking errors of the existing underwater robots are required to be converged in a short time in the butt joint process, the traditional control method has uncertainty in the error convergence time, and the invention provides the technical scheme that: a butt joint control method in the butt joint process of an under-actuated underwater robot comprises the following steps: establishing a kinematic model and a dynamic model of the underwater robot; obtaining expected posture information according to a preset objective function, an expected track and motion constraint; collecting external interference information received by the underwater robot in an operation environment; and tracking the expected attitude information by combining the external interference and the current attitude information of the current robot, and outputting a required control signal. The method is suitable for being applied to the design work of a control method in the butt joint process of the under-actuated underwater robot.
Description
Technical Field
Relates to the technical field of control, in particular to a butt joint control method in the butt joint process of an under-actuated underwater robot.
Background
For underwater robots, particularly tasks involving docking of charging platforms, accurate position control and path planning are critical. Underwater robots are typically multi-degree of freedom systems, but they are typically under-actuated, meaning that the number of degrees of freedom of the robot is greater than can be directly controlled. Therefore, when the docking task is completed, the robot needs to have a highly intelligent control and planning system to ensure that the task is completed safely and efficiently. The following is a detailed discussion of the docking task of an under-actuated underwater robot.
1. Importance of position and angular accuracy
The essence of the task of the underwater robot to dock the charging platform is to eliminate position and angle errors to ensure that the robot can dock the charging interface or other equipment accurately. These errors may come from a number of factors, including water flow, sensor noise, errors in underwater navigation systems, and the like. Solving these errors requires highly accurate control and planning.
The position error refers to the gap between the position of the robot and the target position. The angle error relates to the orientation of the robot, ensuring that the robot is properly oriented towards the charging platform or target. In an underwater environment, both errors may cause task failure, compromising the safety and efficiency of the robot.
2. Planning a desired route
Path planning is the process of finding an optimal path between the target location and the current location to ensure that the robot can reach the target safely and quickly. In the docking task of the underwater robot, the path planning needs to consider the specificity of the underwater environment, including factors such as water flow, obstacles and the like.
The goal of the path planning algorithm is to generate a desired trajectory that will guide the robot from the current position to the target position while minimizing the path length and time. This desired trajectory may comprise a series of target positions, constituting a path along which the robot needs to move.
3. Control algorithm
The control algorithm is critical to achieving the desired route. Once the desired path is planned, the robot needs to adjust its pose and motion according to this path in order to approach the target position step by step.
In the context of an underwater robot, the control algorithm needs to take into account the water flow, robot dynamics and the response of the power system. In general, classical control methods such as PID controllers and Model Predictive Control (MPC) are widely used. These algorithms generate control commands based on the sensor data and the desired trajectory to cause the robot to move in accordance with the desired trajectory.
In the control algorithm, the position and angle errors of the robot are critical feedback signals. The controller uses these error signals to adjust the motion of the robot to minimize errors and keep the robot on a desired trajectory.
4. Sensing technology
Underwater robots rely on various sensing technologies to sense their surroundings and their own state. Such sensors include inertial navigation systems, underwater sonar, visual sensors, underwater positioning systems, and the like. These sensors provide the data required for the robot to navigate and dock in an underwater environment.
Visual sensors are particularly important because they can be used for target detection and identification, helping the robot to accurately position and align the charging platform. The underwater sonar can be used for obstacle avoidance and underwater topography mapping.
5. Adaptive control and fault recovery
The variability of the operating environment of the underwater robot is large, and the presence of water currents and obstructions may lead to unexpected errors. Thus, adaptive control and failure recovery mechanisms are very important. The adaptive control algorithm can automatically adjust the control strategy based on environmental changes to maintain accurate docking. The fault recovery mechanism may then help the robot safely terminate tasks or take appropriate action in the event of a sensor failure or other problem.
6. Communication and remote control
In underwater robotic docking tasks, communication is critical, particularly in deep water tasks. The robot needs to communicate in real time with a ground operator or control center to receive instructions, transmit data, and report status. The communication system must be reliable to ensure successful completion of the task.
7. Trend in future
With the continued advancement of technology, the docking capabilities of underwater robots will become more accurate and efficient. Future trends may include more advanced sensing technologies, more intelligent control algorithms, and more highly adaptive systems. In addition, the autonomous underwater robot can better cope with complex underwater environments and tasks, so that development of the fields of underwater resource exploration, scientific research, rescue tasks and the like is promoted.
In summary, the under-actuated underwater robot docking task is a complex control and planning problem. It requires highly accurate position control, accurate path planning.
However, the existing under-actuated robot has the problem of insufficient driving, the underwater robot needs to converge the position and posture tracking error in a short time in the butt joint process, and the traditional control method has uncertainty in error convergence time, so that the problem is a technical problem to be solved urgently at present.
Disclosure of Invention
In order to solve the problems of insufficient driving of the existing underactuated robot in the prior art, the underwater robot needs to converge the position and posture tracking error in a short time in the butt joint process, and the traditional control method has the technical problem of uncertainty in error convergence time, the technical scheme provided by the invention is as follows:
a docking control method in an underactuated underwater robot docking process, the method comprising:
establishing a kinematic model and a dynamic model of the underwater robot;
obtaining expected posture information according to a preset objective function, an expected track and motion constraint;
collecting external interference information received by the underwater robot in an operation environment;
and tracking the expected gesture information by combining the external interference and the current gesture information of the robot, and outputting a required control signal.
Further, a preferred embodiment is provided, wherein the robot kinematic model and the kinetic model are established based on a preset world coordinate system and a robot motion coordinate system.
Further, a preferred embodiment is provided, wherein the desired pose information and the current pose information include a heading angle, a pitch angle and a longitudinal speed of the underwater robot.
Further, there is provided a preferred embodiment wherein the desired attitude information is obtained by an underwater robot guidance controller designed based on model predictive control.
Further, there is provided a preferred embodiment, the method further comprising the step of presetting a fixed time disturbance observer for achieving a fast and accurate total disturbance estimation within a preset time.
Further, there is provided a preferred embodiment wherein the fixed time disturbance observer is implemented based on a preset fixed time stabilization system.
Further, a preferred embodiment is provided, wherein the tracking of the desired pose information is based on the fixed time disturbance observer.
Based on the same inventive concept, the invention also provides a docking control device in the docking process of the under-actuated underwater robot, which comprises:
a module for establishing a kinematic model and a dynamic model of the underwater robot;
a module for obtaining expected gesture information according to a preset objective function, an expected track and motion constraint;
the module is used for collecting external interference information received by the underwater robot in an operation environment;
and a module for tracking the expected gesture information and outputting a required control signal by combining the external interference and the current gesture information of the robot.
Based on the same inventive concept, the present invention also provides a computer storage medium for storing a computer program, which when read by a computer performs the method.
Based on the same inventive concept, the present invention also provides a computer comprising a processor and a storage medium, the computer performing the method when a computer program stored in the storage medium is read by the processor.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
according to the butt joint control method in the butt joint process of the under-actuated underwater robot, a quicker fixed time stabilizing system is researched, and the convergence speed of a controller is improved.
According to the butt joint control method in the butt joint process of the under-actuated underwater robot, which is provided by the invention, the problems of marine environment disturbance, platform disturbance and various external disturbances in the marine environment are solved, an interference observer is designed to estimate the external disturbance force caused by the environment disturbance quantity and the platform disturbance according to the tracking error, the control input information and the fixed time stabilization system, and then the interference force and the torque caused by the marine current disturbance and the platform disturbance are fed back to a sliding mode controller, so that the compensation of the underwater environment disturbance is realized, the expected position or expected track can be tracked quickly, and the driving deficiency of the under-actuated robot can be solved.
The method is suitable for being applied to the design work of a control method in the butt joint process of the under-actuated underwater robot.
Drawings
Fig. 1 is a schematic structural diagram of an underwater robot tracking control system according to an eleventh embodiment;
FIG. 2 is a schematic diagram of a design flow of an MPC-based I-AUV guidance controller under the multiple constraints set forth in the eleventh embodiment;
FIG. 3 is a block diagram of a nonsingular fixed time terminal sliding mode controller based on an adaptive fixed time disturbance observer according to the eleventh embodiment;
fig. 4 is a schematic view showing the result of the docking motion of the underwater robot according to the eleventh embodiment.
Detailed Description
In order to make the advantages and benefits of the technical solution provided by the present invention more apparent, the technical solution provided by the present invention will now be described in further detail with reference to the accompanying drawings, in which:
an embodiment one, the present embodiment provides a docking control method in a docking process of an under-actuated underwater robot, where the method includes:
establishing a kinematic model and a dynamic model of the underwater robot;
obtaining expected posture information according to a preset objective function, an expected track and motion constraint;
collecting external interference information received by the underwater robot in an operation environment;
and tracking the expected gesture information by combining the external interference and the current gesture information of the robot, and outputting a required control signal.
The second embodiment and the present embodiment are further defined on the docking control method in the docking process of the under-actuated underwater robot provided in the first embodiment, where the robot kinematic model and the dynamics model are established based on a preset world coordinate system and a robot motion coordinate system.
The third embodiment is further defined on the docking control method in the docking process of the under-actuated underwater robot provided in the first embodiment, where the expected gesture information and the current gesture information include a heading angle, a pitch angle and a longitudinal speed of the underwater robot.
In the fourth embodiment, the present embodiment is further defined on the docking control method in the docking process of the under-actuated underwater robot provided in the third embodiment, where the desired attitude information is obtained by an underwater robot guidance controller designed based on model prediction control.
The fifth embodiment is further defined by the docking control method in the docking process of the under-actuated underwater robot provided in the first embodiment, and the method further includes a step of presetting a fixed time interference observer, where the fixed time interference observer is used for realizing rapid and accurate total disturbance estimation in preset time.
The sixth embodiment is further limited to the docking control method in the docking process of the under-actuated underwater robot provided in the fifth embodiment, and the fixed time interference observer is implemented based on a preset fixed time stabilizing system.
An embodiment seventh and this embodiment are further defined on the docking control method in the docking process of the under-actuated underwater robot provided in the fifth embodiment, wherein the process of tracking the desired attitude information is based on the fixed time disturbance observer.
An eighth embodiment provides a docking control device in a docking process of an under-actuated underwater robot, where the device includes:
a module for establishing a kinematic model and a dynamic model of the underwater robot;
a module for obtaining expected gesture information according to a preset objective function, an expected track and motion constraint;
the module is used for collecting external interference information received by the underwater robot in an operation environment;
and a module for tracking the expected gesture information and outputting a required control signal by combining the external interference and the current gesture information of the robot.
The ninth embodiment provides a computer storage medium storing a computer program, which when read by a computer performs the method provided in the first embodiment.
In a tenth embodiment, the present embodiment provides a computer including a processor and a storage medium, where the computer performs the method provided in the first embodiment when a computer program stored in the storage medium is read by the processor.
An eleventh embodiment, which is described in conjunction with fig. 1-4, is a preferred embodiment provided for the method provided in the first embodiment, and is for explaining the methods provided in the first to seventh embodiments, and for simultaneously embodying the advantages of the methods provided in the first to seventh embodiments, in particular:
as shown in fig. 1, the overall flow of the present embodiment is as follows:
step 1: establishing a world coordinate systemRobot motion coordinate system (O-XYZ), based on the coordinate system, an underwater robot kinematic model is established, the kinematic model being as follows:
wherein: ζ, eta, zeta, theta, phi represent the position and the posture of the underwater robot under the geodetic coordinate system, and ζ, eta are the world coordinate systems of the robot respectivelyThe displacement in the direction, theta, phi is the pitch angle and heading angle of the robot, u, v, w is the displacement of the robot along the x, y and z directions of the robot coordinate system, qR is the pitch angle speed and the heading angle speed of the robot.
Establishing a dynamics model of the underwater robot based on a coordinate system, wherein the dynamics model is as follows:
wherein: m represents an inertia matrix; c represents a Coriolis force and centripetal force matrix, D (v) represents viscous drag, and D is an external uncertain disturbance; v= [ u, v, w, q, r ] represents the speed value of the robot; τ is the thrust of the robot itself.
Step 2: the guidance controller (shown in fig. 2) is designed based on Model Predictive Control (MPC), and the optimal longitudinal speed and angular speed are obtained by designing an objective function and considering the expected track and motion constraint. The objective optimization function is actually as follows:
where deltau is the control input gain,the model is a state variable, namely the robot position state, R, P and Q are weight coefficient matrixes, and D and E are model coefficients.
Because the robot has the limitation of maximum navigational speed, maximum course angle and pitch angle and minimum course angle and pitch angle when in underwater navigation, the speed of the propeller and the angle of the rudder are usually regulated by a small acceleration and a small angle, so that the constraint of speed gain and angular speed gain is needed to be considered in actual navigation, and the speed constraint in navigation is as follows:
u min ≤u≤u max
Δu min ≤Δu≤△u max ，
and solving through quadratic programming to obtain the optimal longitudinal speed and angular speed of the underwater robot during path tracking, thereby obtaining the expected speed, course angle and longitudinal inclination angle required by the subsequent robot dynamics control section.
Step 3: designing a fixed time stabilization system
γ(α，e(t))＝(α+1)/2+(α-1)/2sign(|e(t)|-1)
K in 1 ，k 2 > 0, alpha > 1,1 > beta > 0, and e (t) is the state error.
Step 4: an adaptive fixed time disturbance observer is designed according to the state variable error change rate, the control input and the fixed time stabilization system designed in the step 3, and the observer can realize rapid and accurate total disturbance estimation in a finite timeAnd no boundary information of disturbance and derivative thereof is needed, the observer is as follows:
in e 2 The state variable error change rate is I-AUV;is an adaptive gain; Λ is the interference error; phi is the state quantity e 2 Is a function of the estimated value of (2); m represents an inertia matrix; c represents the Coriolis force and centripetal force matrix D (v) represents viscous drag force, and D is an external uncertain disturbance; k (k) 5 ，k 6 ，k 7 ，k 8 > 0 is constant.
Step 5: external interference obtained by self-adaptive fixed time interference observer based on step 4 designAnd 3, a fixed time stabilization system is provided, a kinematic equation and a dynamic equation of the robot are combined, a tracking controller design of a heading angle, a longitudinal inclination angle and a longitudinal speed of the robot is carried out, the optimal longitudinal speed, the heading angle speed and the longitudinal inclination angle speed of the underwater robot obtained in the step 1 are tracked, longitudinal thrust, longitudinal inclination connection and a bow moment required by the motion of the underwater robot are obtained, and the controller design is as follows (shown in figure 3):
a speed controller:
pitch controller:
heading controller:
wherein k is 3 ，k 4 ，k 5 ＞0，N 1 ，N 2 ，N 3 Is robot kinematics.
Step 6: the robot is then brought to the desired position (shown in fig. 4) by adjusting the propeller and rudder according to the control thrust, moment required by the robot motion obtained in step 5.
The technical solution provided by the present invention is described in further detail through several specific embodiments, so as to highlight the advantages and benefits of the technical solution provided by the present invention, however, the above specific embodiments are not intended to be limiting, and any reasonable modification and improvement, combination of embodiments, equivalent substitution, etc. of the present invention based on the spirit and principle of the present invention should be included in the scope of protection of the present invention.
In the description of the present invention, only the preferred embodiments of the present invention are described, and the scope of the claims of the present invention should not be limited thereby; furthermore, the descriptions of the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise. Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention. Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer cartridge (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments. In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
Claims (10)
1. A docking control method in the docking process of an under-actuated underwater robot, the method comprising:
establishing a kinematic model and a dynamic model of the underwater robot;
obtaining expected posture information according to a preset objective function, an expected track and motion constraint;
collecting external interference information received by the underwater robot in an operation environment;
and tracking the expected gesture information by combining the external interference and the current gesture information of the robot, and outputting a required control signal.
2. The method for controlling the docking of the under-actuated underwater robot in the docking process according to claim 1, wherein the robot kinematic model and the dynamics model are established based on a preset world coordinate system and a robot motion coordinate system.
3. The method for controlling docking in a docking process of an under-actuated underwater robot according to claim 1, wherein the desired attitude information and the current attitude information include a heading angle, a pitch angle and a longitudinal speed of the underwater robot.
4. A docking control method in a docking process of an under-actuated underwater robot according to claim 3, wherein the desired attitude information is obtained by an underwater robot guidance controller designed based on model predictive control.
5. A docking control method in a docking process of an under-actuated underwater robot according to claim 1, characterized in that the method further comprises the step of presetting a fixed time disturbance observer for realizing a fast and accurate total disturbance estimation within a preset time.
6. The method of claim 5, wherein the fixed time disturbance observer is implemented based on a preset fixed time stabilization system.
7. The method of claim 5, wherein the tracking of the desired pose information is based on the fixed time disturbance observer.
8. A docking control device in a docking process of an under-actuated underwater robot, the device comprising:
a module for establishing a kinematic model and a dynamic model of the underwater robot;
a module for obtaining expected gesture information according to a preset objective function, an expected track and motion constraint;
the module is used for collecting external interference information received by the underwater robot in an operation environment;
and a module for tracking the expected gesture information and outputting a required control signal by combining the external interference and the current gesture information of the robot.
9. Computer storage medium for storing a computer program, characterized in that the computer performs the method of claim 1 when the computer program is read by the computer.
10. A computer comprising a processor and a storage medium, characterized in that the computer performs the method of claim 1 when a computer program stored in the storage medium is read by the processor.
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