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Underwater robot gravity center auxiliary adjusting system and control method

An underwater robot and adjustment system technology, applied in the directions of underwater ships, underwater operation equipment, motor vehicles, etc., can solve the problem of sacrificing the effective space of the underwater robot body, and achieve important practical engineering significance and theoretical value, space utilization. Reasonable and compact effect

Active Publication Date: 2018-10-19
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This invention is similar to the active attitude adjustment system of underwater robots invented by Xie Shaorong, which sacrifices the effective space inside the underwater robot body, and does not propose effective solutions and control methods for specific external interference situations.

Method used

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  • Underwater robot gravity center auxiliary adjusting system and control method
  • Underwater robot gravity center auxiliary adjusting system and control method
  • Underwater robot gravity center auxiliary adjusting system and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Implementation 1: If figure 1 As shown, the system is mainly composed of an attitude detection system, an adjustment motion controller, a screw slider mechanism, a battery compartment, and an underwater robot motion information input module: the attitude detection system is used to detect the attitude of the underwater robot body, especially the underwater robot The trim information of the underwater robot; the adjustment motion controller makes a comprehensive judgment based on the current pitch attitude information of the underwater robot, the motion control information of the underwater robot, and the motion control information of the underwater manipulator, controls the center of gravity auxiliary adjustment system, and adjusts the center of gravity of the underwater robot. Realize the control of the target attitude; the lead screw slider mechanism is the executive mechanism of the center of gravity auxiliary adjustment system, which is composed of a watertight motor...

Embodiment 2

[0034] Implementation 2: If figure 2 As shown, the frame 1 plays an integral supporting role, the watertight motor 7 is connected with the lead screw 5 through the coupling 6, a slider 4 is respectively fixed at the front and rear positions of the middle part of the battery compartment 3, and the lead screw 5 is connected with the slider 4. The watertight motor 7 receives the command sent by the adjustment motion controller to drive the screw 5 to rotate, and the screw 5 drives the slider 4 to move back and forth, thereby realizing the forward and backward movement of the battery compartment 3 . Four guide rods 2 are placed at the four corners of the battery compartment 3 , and the four guide rods 2 play a role of supporting and guiding the battery compartment 3 .

Embodiment 3

[0035] Implementation 3: The kinematics and dynamics model of the pitch motion of the underwater robot with model parameter uncertainty and external disturbances are as follows:

[0036]

[0037] Where θ is the pitch angle, q is the pitch angular velocity, I y is the moment of inertia around the y-axis, and M q|q| is the hydrodynamic coefficient, τ M is the propeller thrust, Include model parameter uncertainty (the hydrodynamic parameters will be uncertain according to the environment, and the real value is difficult to measure) and external disturbances (waves, currents, etc.) f l .

[0038] For the convenience of controller derivation, the controller system is rewritten as follows:

[0039]

[0040] where x 1 =ψ,x 2 =r, ψ is heading angle, r is heading angular velocity, M is inertia item, I z is its own inertia, is the additional mass, D is the proportional coefficient of hydrodynamic parameters, N r|r| is the hydrodynamic parameter, u is the controller o...

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Abstract

The invention relates to an underwater robot gravity center auxiliary adjusting system and a control method. A posture detection system is used for detecting a posture of an underwater robot body; anunderwater robot motion information input module is used for detecting motion control information of the underwater robot body and motion control information of an underwater mechanical arm which is carried on the underwater robot body; an adjusting motion controller derives gravity center change tendency and size of an underwater mechanical arm according to longitudinal inclination posture information of the underwater robot, motion control information of the underwater robot and motion control information of the underwater mechanical arm and controls a screw-slide block mechanism and adjuststhe gravity center of the underwater robot; and the screw-slide block mechanism is an executing mechanism of the gravity center auxiliary adjusting system. According to the underwater robot gravity center auxiliary adjusting system and the control method, as a battery compartment is used as an adjusting unit, the problem that the robot body is affected ocean current external interference and thegravity center change of the underwater mechanical arm is solved, the interference of the gravity center change to the underwater robot body can be compensated, and the ocean current interference resisting problem under a static condition is effectively solved.

Description

technical field [0001] The invention relates to an auxiliary center-of-gravity adjustment system of an underwater robot, and also relates to a control method of pitch attitude. Background technique [0002] With the rapid development of ocean development, more and more unmanned autonomous underwater robots have been applied to the process of ocean development and exploration, and have become a research hotspot in research institutions at home and abroad. In order to save system capacity, have a longer voyage time and sail farther, unmanned autonomous underwater robots are generally designed in an underactuated form, that is, a single propeller plus a tail cross rudder. Due to the lack of local degrees of freedom, when the underwater robot is disturbed by the underwater ocean current and the movement of the underwater robot arm it carries, in order to maintain its own motion stability, it needs to sail for a certain distance, and offset the impact of external interference thr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63G8/14
CPCB63C11/52B63G8/14
Inventor 魏延辉朱强徐丽学王安琪赵延峰郝晟功田晨光刘静王永海王文杰
Owner HARBIN ENG UNIV
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