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Saturation control method for submarine fixed-point landing of cabled underwater robot based on sliding mode technology

An underwater robot and control method technology, applied in the directions of adaptive control, general control system, control/adjustment system, etc., can solve the problems of underwater structure collision or even accident, poor fixed-point landing accuracy, time-consuming and labor-intensive, etc., to reduce the use of Difficulty, improve accuracy, improve work efficiency

Active Publication Date: 2021-09-28
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problem that most of the existing ROVs use manual operation for landing on the seabed, which is time-consuming and laborious, and the precision of fixed-point landing is poor, and it is easy to collide with underwater structures or even cause serious economic losses. A Saturation Control Method for Seabed Fixed-point Landing of a Cabled Underwater Robot Based on Sliding Mode Technology

Method used

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  • Saturation control method for submarine fixed-point landing of cabled underwater robot based on sliding mode technology
  • Saturation control method for submarine fixed-point landing of cabled underwater robot based on sliding mode technology
  • Saturation control method for submarine fixed-point landing of cabled underwater robot based on sliding mode technology

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specific Embodiment approach 1

[0040] Specific implementation mode one: the specific process of the fixed-point landing saturation control method for the cabled underwater robot based on sliding mode technology in this implementation mode is as follows:

[0041] (1) Definition of the coordinate system related to ROV research: Inertial coordinate system (E-ξηζ): the origin E can be selected at a certain point on the sea surface, the Eξ axis and Eη axis are placed in the horizontal plane and are perpendicular to each other, and the Eξ axis points to the true north. direction. Eζ is perpendicular to the Eξη plane, pointing to the center of the earth;

[0042] Motion coordinate system G-xyz: the origin G is taken at the center of gravity of the ROV, and the x-axis, y-axis and z-axis are respectively the intersection lines of the water plane, transverse section and middle longitudinal section passing through the origin;

[0043] (2) ROV modeling technology: based on Fossen's six-degree-of-freedom nonlinear ROV ...

specific Embodiment approach 2

[0068] Specific embodiment 2, the difference between this embodiment and specific embodiment 1 is: in the step 1, the conversion matrix J of the inertial coordinate system to the motion coordinate system is expressed as:

[0069]

[0070] in,

[0071]

[0072]

[0073] In the formula, s' is the sine function sin; c' is the cosine function cos; t' is the tangent function tan; is the displacement transformation matrix, and T′ is the attitude transformation matrix.

[0074] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0075] Specific implementation mode three, the difference between this implementation mode and specific implementation mode one or two is: in said step two, an improved sliding mode variable structure control is established based on step one; the specific process is:

[0076] Sliding mode variable structure control has the advantages of fast response and insensitivity to parameter changes and disturbances, and has been favored by many scientific researchers in recent years. However, due to the chattering problem, the sliding mode variable structure control has been continuously improved. Up to now, the chattering problem is still a research hotspot of sliding mode variable structure control. Literature [2] ([2]Tanakitkorn K, Wilson PA, Turnock S R, et al. Sliding mode heading control of an over actuated, hover-capable autonomous underwater vehicle with experimental verification [J]. Journal of Field Robotics, 2017.) A method of using the hyperbolic tangent function to approxi...

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Abstract

The invention relates to a saturation control method for fixed-point landing on the seabed of a cabled underwater robot based on sliding mode technology. The invention relates to a saturation control method for fixed-point landing on the seabed of an underwater robot. The purpose of the present invention is to solve the problem that most existing ROVs use manual operation for landing on the seabed, which is time-consuming and labor-intensive, and the precision of fixed-point landing is poor, and it is easy to collide with underwater structures or even cause accidents, causing serious economic losses. The specific process is: step 1, establish ROV model; step 2, establish improved sliding mode variable structure control based on step 1; step 3, introduce input saturation function based on step 1 and step 2; step 4, based on step 1, step 2, Step three establishes the improved sliding mode variable structure control considering saturation. The invention is used in the field of underwater robot fixed-point landing saturation control on the seabed.

Description

technical field [0001] The invention relates to a saturation control method for fixed-point landing on the seabed of an underwater robot. Background technique [0002] Cabled underwater robot (Remote Operated Vehicle, referred to as ROV) is one of the important symbols of a country's marine equipment technology level. Research on related technologies of ROV has immeasurable strategic significance for national economy, utilization of seabed space, deep sea tourism, deep sea salvage and lifesaving. [0003] According to the focus of ROV research, the method of motion control of fixed-point landing on the seabed of ROV is studied. In the case of knowing the coordinates and ideal heading of the landing point, the control problem of the automatic movement of the ROV near the landing point to the landing point is studied. [0004] (1) At present, most ROVs use manual operation for landing on the seabed. This method often requires experienced operators to perform multiple recipro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 孙延超魏彤锦秦洪德张栋梁张佩张子洋李凌宇
Owner HARBIN ENG UNIV
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