CN104477359B - Underwater robot multiple degrees of freedom vector propulsion layout method - Google Patents

Abstract

The invention discloses a kind of underwater robot multiple degrees of freedom vector propulsion layout method, for solving the technical problem that existing underwater robot vector propulsion method direction controlling is single.Technical scheme is to utilize existing single-degree-of-freedom propeller to carry out multiple degrees of freedom vector propulsion layout, make two pairs of horizontal propellers before and after underwater robot advance vector controlled axle to be connected into by one respectively to be integrated, by vector advance servo control mechanism control can link thrust vectoring rotation export, realize the optimum organization on specific degree of freedom direction of each propeller thrust, and be prone to Project Realization.

Description

Underwater robot multiple degrees of freedom vector propulsion layout method

Technical field

The present invention relates to a kind of underwater robot vector propulsion method, particularly relate to a kind of underwater robot multiple degrees of freedom Vector propulsion layout method.

Background technology

Document " underwater robot/Jiang Xinsong etc. write Shenyang: Liaoning science tech publishing house, and 2000.11, P279-286 " disclose several frequently seen underwater robot propeller layout method.Document is pointed out, it is achieved N number of freedom The motion N number of propeller of minimum needs of degree, the most current this Cast tube propeller layout thinking, All full decoupled for basic premise with underwater robot horizontal plane motion and perpendicular planar movement.Each propeller is arranged in On underwater robot each degree of freedom direction, thrust direction is completely fixed, respectively the fortune of underwater robot difference degree of freedom Dynamic thrust output.

But, due to underwater robot demand when performing observation, job task, to each degree of freedom motor capacity It is not invariable, and due to the existence of heaving pile, in underwater robot motor process, heaving pile disturbance is also constantly to become Change.Each propeller thrust direction is fixed, in any case arrange, underwater robot motion energy on specific degree of freedom Power is also fixing, it is impossible to make the optimum organization on specific degree of freedom direction of each angle of rake thrust, with improve advance and Compensate the efficiency of heaving pile disturbance.

Solve problem above, can start with from impeller design, develop and possess Three Degree Of Freedom thrust rotatory power under water Propeller.It will be appreciated that this angle of rake design and development are all extremely complicated, relate to Level Multiple Degree of Freedom Structures The problems such as design, SERVO CONTROL and movable sealing under water, there is no this type of propeller product at present and commercially occur.Therefore, One must be designed and utilize existing single-degree-of-freedom propeller, solve heaving pile Cast tube high efficiency movement and control The propeller layout method of compensation problem autonomous with heaving pile disturbance.

Summary of the invention

In order to overcome the deficiency that existing underwater robot vector propulsion method direction controlling is single, the present invention provides a kind of water Lower robot multi-freedom vector propulsion layout method.The method utilizes existing single-degree-of-freedom propeller to carry out multiple degrees of freedom Vector propulsion layout, before and after making underwater robot, two pairs of horizontal propellers advance vector controlled axle to couple by one respectively It is integrally forming, the rotation output of the thrust vectoring that can have been linked by the control of vector propelling servo control mechanism, it is achieved each Propeller thrust optimum organization on specific degree of freedom direction, and it is prone to Project Realization.

The technical solution adopted for the present invention to solve the technical problems is: a kind of underwater robot multiple degrees of freedom vector pushes away Enter layout method, be characterized in use following steps:

Step one, select six faces of underwater robot outline to form cuboids, using the geometric center of this cuboid as Zero O, the OX axle of satellite coordinate system, in cuboid indulges the plane of symmetry, is perpendicular to robot front end face, before sensing Enter direction；In OZ axle is with indulging the plane of symmetry at cuboid, it is perpendicularly oriented to top with OX axle；OY axle is perpendicular to ZOX and puts down Face, constitutes right hand rectangular coordinate system with OX axle and OZ axle.If length is respectively the machine under water of L, W and H Device people's center of gravity and the centre of buoyancy coordinate in satellite coordinate system is respectively (X_g,Y_g,Z_g) and (X_c,Y_c,Z_c), then meet:

Metancenter height h=Z_c-Z_g>70mm。

In order to keep the static balance of underwater robot, have:

$\left\{\begin{array}{c}|X_c-X_g|\≤20\mathrm{mm}\\ |Y_c-Y_g|\≤10\mathrm{mm}\end{array}\right.$

Relation between underwater robot weight position, centre of buoyancy and its length meets:

$\left\{\begin{array}{c}\left|X_c\right|<10\%L,\left|X_g\right|<10\%L\\ \left|Y_c\right|<2\%W,\left|Y_g\right|<2\%W\end{array}\right.$

Step 2, underwater robot propeller are four horizontal propellers and two vertical pusher.Four levels advance Device axis is in the same plane, and parallel with XOY plane, left front horizontal propeller 1, right before horizontal propeller 4, 9 four propeller axis of horizontal propeller and the angle γ of ZOX plane after left back horizontal propeller 6 and the right side_FL、γ_FR、 γ_ALAnd γ_ARIt is 30 °, with left front horizontal propeller 1, right front horizontal propeller 4, left back horizontal propeller 6 and the right side 9 four propellers of rear horizontal propeller install fixing point P_FL、P_FR、P_ALAnd P_ARCoordinate in satellite coordinate system divides Wei (X_FL,Y_FL,Z_FL)、(X_FR,Y_FR,Z_FR)、(X_AL,Y_AL,Z_AL) and (X_AR,Y_AR,Z_AR), horizontal propeller fixing point Coordinate meets following condition:

$\left\{\begin{array}{c}{X}_{\mathrm{FL}}=X_{\mathrm{FR}}=\left|X_{\mathrm{AL}}\right|=\left|X_{\mathrm{AR}}\right|\&GreaterEqual;L\%25\\ Y_{\mathrm{FL}}=Y_{\mathrm{AL}}=\left|Y_{\mathrm{FR}}\right|=\left|Y_{\mathrm{AR}}\right|\&GreaterEqual;W\%25\\ \left|Z_{\mathrm{FL}}\right|=\left|Z_{\mathrm{FR}}\right|=\left|Z_{\mathrm{AL}}\right|=\left|Z_{\mathrm{AR}}\right|\&le;H\%5\end{array}\right.$

Two vertical pusher 5 axis are in the same plane, and parallel with YOZ plane, vertical left (CL) and vertical Right (CR) two propellers and the angle γ of ZOX plane_CL、γ_CRBeing 0 °, two propellers install fixing point P_CL And P_CRCoordinate in satellite coordinate system is (X_CL,Y_CL,Z_CL) and (X_CR,Y_CR,Z_CR), vertical pusher fixing point coordinate Meet following condition:

$\left\{\begin{array}{c}\left|X_{\mathrm{CL}}\right|=\left|X_{\mathrm{CR}}\right|\&le;L\%2\\ Y_{\mathrm{CL}}=\left|Y_{\mathrm{CR}}\right|\&GreaterEqual;W\%25\\ Z_{\mathrm{CL}}=Z_{\mathrm{CR}}\&GreaterEqual;H\%20\end{array}\right.$

Step 3, horizontal propeller 4 before left front horizontal propeller 1 and the right side is controlled axle 3 is connected before advancing vector, Use movable sealing mode to insert front vector and advance servo control mechanism 2；By horizontal propeller 9 behind left back horizontal propeller 6 and the right side Being connected with controlling axle 8 after propelling vector, after using movable sealing mode to insert, vector advances servo control mechanism 7.Front and back two Advance vector controlled axle to be connected into and be integrated by one respectively horizontal propeller, underwater robot according to control instruction, The linkage that controls being advanced servo control mechanism by vector realizes the rotation output of thrust vectoring.

The invention has the beneficial effects as follows: the method utilizes existing single-degree-of-freedom propeller to carry out multiple degrees of freedom vector and advances cloth Office, is made two pairs of horizontal propellers before and after underwater robot be connected into by a propelling vector controlled axle respectively and is integrated, By vector advance servo control mechanism control can link thrust vectoring rotation export, it is achieved each propeller thrust Optimum organization on specific degree of freedom direction, and it is prone to Project Realization.

With detailed description of the invention, the present invention is elaborated below in conjunction with the accompanying drawings.

Accompanying drawing explanation

Fig. 1 is that in underwater robot multiple degrees of freedom vector propulsion layout method of the present invention, underwater robot vector advances Installation drawing.

In figure, the left front horizontal propeller of 1-, before 2-, vector advances servo control mechanism, and 3-controls axle, before the 4-right side before advancing vector Horizontal propeller, 5-vertical pusher, the left back horizontal propeller of 6-, after 7-, vector advances servo control mechanism, and 8-advances vector Rear control axle, horizontal propeller behind the 9-right side.

Detailed description of the invention

With reference to Fig. 1.Underwater robot multiple degrees of freedom vector propulsion layout method of the present invention specifically comprises the following steps that

1. set up propeller layout benchmark.

Underwater robot propeller layout determines on the basis of " satellite coordinate system ".The definition of satellite coordinate system in the present invention For, select six faces of underwater robot outline to form cuboid, sit as satellite using the geometric center of this cuboid Zero O, the OX axle of mark system, in cuboid indulges the plane of symmetry, is perpendicular to robot front end face, points to advance side To；In OZ axle is with indulging the plane of symmetry at cuboid, it is perpendicularly oriented to top with OX axle；OY axle is perpendicular to ZOX plane, Right hand rectangular coordinate system is constituted with OX axle and OZ axle.Setting tool is respectively L, W and H under water for length Robot center of gravity and the centre of buoyancy coordinate in satellite coordinate system is respectively (X_g,Y_g,Z_g) and (X_c,Y_c,Z_c), then should meet:

Metancenter height h=Z_c-Z_g>70mm。

In order to keep the static balance of underwater robot, Ying You:

$\left\{\begin{array}{c}|X_c-X_g|\&le;20\mathrm{mm}\\ |Y_c-Y_g|\&le;10\mathrm{mm}\end{array}\right.$

Relation between underwater robot weight position, centre of buoyancy and its length should meet:

$\left\{\begin{array}{c}\left|X_c\right|<10\%L,\left|X_g\right|<10\%L\\ \left|Y_c\right|<2\%W,\left|Y_g\right|<2\%W\end{array}\right.$

2. propeller layout and criterion.

Design underwater robot propeller is four horizontal propellers, adds two vertical pusher layouts.Four levels push away Enter device axis in the same plane, and parallel with XOY plane, left front horizontal propeller 1, right before horizontal propeller 4, 9 four propeller axis of horizontal propeller and the angle γ of ZOX plane behind left back horizontal propeller 6, the right side_FL、γ_FR、γ_AL And γ_ARIt is 30 °, with four propellers, fixing point P is installed_FL、P_FR、P_ALAnd P_ARCoordinate in satellite coordinate system It is respectively (X_FL,Y_FL,Z_FL)、(X_FR,Y_FR,Z_FR)、(X_AL,Y_AL,Z_AL) and (X_AR,Y_AR,Z_AR), in order to ensure to control surely Qualitative, horizontal propeller fixing point coordinate should meet following condition:

$\left\{\begin{array}{c}{X}_{\mathrm{FL}}=X_{\mathrm{FR}}=\left|X_{\mathrm{AL}}\right|=\left|X_{\mathrm{AR}}\right|\&GreaterEqual;L\%25\\ Y_{\mathrm{FL}}=Y_{\mathrm{AL}}=\left|Y_{\mathrm{FR}}\right|=\left|Y_{\mathrm{AR}}\right|\&GreaterEqual;W\%25\\ \left|Z_{\mathrm{FL}}\right|=\left|Z_{\mathrm{FR}}\right|=\left|Z_{\mathrm{AL}}\right|=\left|Z_{\mathrm{AR}}\right|\&le;H\%5\end{array}\right.$

Two vertical pusher 5 axis are in the same plane, and parallel with YOZ plane, vertical left (CL) and vertical Right (CR) two propellers and the angle γ of ZOX plane_CL、γ_CRBeing 0 °, two propellers install fixing point P_CL And P_CRCoordinate in satellite coordinate system is (X_CL,Y_CL,Z_CL) and (X_CR,Y_CR,Z_CR), in order to ensure control stability, Vertical pusher fixing point coordinate should meet following condition:

$\left\{\begin{array}{c}\left|X_{\mathrm{CL}}\right|=\left|X_{\mathrm{CR}}\right|\&le;L\%2\\ Y_{\mathrm{CL}}=\left|Y_{\mathrm{CR}}\right|\&GreaterEqual;W\%25\\ Z_{\mathrm{CL}}=Z_{\mathrm{CR}}\&GreaterEqual;H\%20\end{array}\right.$

3. the free vector of horizontal propeller adjusts.

Horizontal propeller 4 before left front horizontal propeller 1 and the right side is controlled axle 3 is connected before advancing vector, uses dynamic Before sealing means inserts, vector advances servo control mechanism 2；By horizontal propeller 9 behind left back horizontal propeller 6 and the right side with push away Controlling axle 8 after entering vector to be connected, after using movable sealing mode to insert, vector advances servo control mechanism 7.Two pairs of water front and back Flat propeller advances vector controlled axle to be connected into by one respectively and is integrated, and underwater robot is according to control instruction, logical Crossing vector advances the linkage that controls of servo control mechanism to realize the rotation output of thrust vectoring.

Claims (1)

1. a underwater robot multiple degrees of freedom vector propulsion layout method, it is characterised in that comprise the following steps:

Step one, select six faces of underwater robot outline to form cuboids, using the geometric center of this cuboid as Zero O, the OX axle of satellite coordinate system, in cuboid indulges the plane of symmetry, is perpendicular to robot front end face, before sensing Enter direction；In OZ axle is with indulging the plane of symmetry at cuboid, it is perpendicularly oriented to top with OX axle；OY axle is perpendicular to ZOX and puts down Face, constitutes right hand rectangular coordinate system with OX axle and OZ axle；If length is respectively the machine under water of L, W and H Device people's center of gravity and the centre of buoyancy coordinate in satellite coordinate system is respectively (X_g,Y_g,Z_g) and (X_c,Y_c,Z_c), then meet:

Metancenter height h=Z_c-Z_g＞ 70mm；

In order to keep the static balance of underwater robot, have:

$\left\{\begin{array}{c}\left|X_c-X_g\right|\&le;20mm\\ \left|Y_c-Y_g\right|\&le;10mm\end{array}\right.$

Relation between underwater robot weight position, centre of buoyancy and its length meets:

$\left\{\begin{array}{c}\left|X_c\right|<10\%L,\left|X_g\right|<10\%L\\ \left|Y_c\right|<2\%W,\left|Y_g\right|<2\%W\end{array}\right.$

Step 2, underwater robot propeller are four horizontal propellers and two vertical pusher；Four levels advance Device axis is in the same plane, and parallel with XOY plane, left front horizontal propeller (1), right before horizontal propeller (4), (9) four propeller axis of horizontal propeller and the angle γ of ZOX plane after left back horizontal propeller (6) and the right side_FL、 γ_FR、γ_ALAnd γ_ARIt is 30 °, pushes away with left front horizontal propeller (1), right front horizontal propeller (4), left back level After entering device (6) and the right side, (9) four propellers of horizontal propeller install fixing point P_FL、P_FR、P_ALAnd P_ARAt satellite Coordinate in coordinate system is respectively (X_FL,Y_FL,Z_FL)、(X_FR,Y_FR,Z_FR)、(X_AL,Y_AL,Z_AL) and (X_AR,Y_AR,Z_AR), Horizontal propeller fixing point coordinate meets following condition:

$\left\{\begin{array}{c}{X}_{FL}=X_{FR}=\left|X_{AL}\right|=\left|X_{AR}\right|\&GreaterEqual;25\%L\\ Y_{FL}=Y_{AL}=\left|Y_{FR}\right|=\left|Y_{AR}\right|\&GreaterEqual;25\%W\\ \left|Z_{FL}\right|=\left|Z_{FR}\right|=\left|Z_{AL}\right|=\left|Z_{AR}\right|\&le;5\%H\end{array}\right.$

Two vertical pusher (5) axis is in the same plane, and parallel with YOZ plane, vertical left CL propeller Angle γ with vertical right CR propeller Yu ZOX plane_CL、γ_CRBeing 0 °, two propellers install fixing point P_CLWith P_CRCoordinate in satellite coordinate system is (X_CL,Y_CL,Z_CL) and (X_CR,Y_CR,Z_CR), vertical pusher fixing point coordinate is full The following condition of foot:

$\left\{\begin{array}{c}\left|X_{CL}\right|=\left|X_{CR}\right|\&le;2\%L\\ Y_{CL}=\left|Y_{CR}\right|\&GreaterEqual;25\%W\\ Z_{CL}=Z_{CR}\&GreaterEqual;20\%H\end{array}\right.$

Step 3, horizontal propeller (4) before left front horizontal propeller (1) and the right side is controlled axle (3) before advancing vector It is connected, uses movable sealing mode to insert front vector and advance servo control mechanism (2)；By left back horizontal propeller (6) with right Rear horizontal propeller (9) controls axle (8) after vector be connected with advancing, and after using movable sealing mode to insert, vector advances Servo control mechanism (7)；Front and back two pairs of horizontal propellers are connected into by a propelling vector controlled axle respectively and are integrated, under water Robot, according to control instruction, advances the linkage that controls of servo control mechanism to realize the rotation output of thrust vectoring by vector.