CN107697248B - A kind of error and parameter correction method of deep ocean work humanoid robot propeller - Google Patents
A kind of error and parameter correction method of deep ocean work humanoid robot propeller Download PDFInfo
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Abstract
A kind of error and parameter correction method of deep ocean work humanoid robot propeller, belong to underwater robot technical field, and the present invention is in order to solve the problems, such as the error of deep ocean work humanoid robot propeller be derived and be corrected at present.Step 1, theory analysis determine error source, establish total error model；Step 2, the total error model according to step 1 establish the propeller setting angle error model under horizontal attitude；Step 3, the total error model according to step 1 establish the propeller error in mounting position model under horizontal attitude；Step 4, the total error model according to step 1 establish non-horizontal attitude error model；Step 5 carries out tank experiments；Step 6, error model amendment, completes the error and parameters revision to propeller.The error and parameter correction method of a kind of deep ocean work humanoid robot propeller of the invention are able to achieve the foundation to the total error motion model of operation type ROV, calculate the error of propeller.
Description
Technical field
The present invention relates to a kind of error of propeller and parameter correction methods, and in particular to a kind of deep ocean work humanoid robot
The error and parameter correction method of propeller, belong to underwater robot technical field.
Background technique
As a kind of important underwater platform and tool, operation type underwater robot has been widely applied to ocean at present
The fields such as engineering, salvage, ocean exploration.Operation type underwater robot is as marine resources development and ocean environment observation
One of important equipment, maximum feature are to complete high-intensitive, big load, high-precision work in dangerous blue water
Industry task.It is that a country realizes indispensable one of the major technologies and equipment of deep-ocean resource exploitation.It is underwater as operation type
The impeller system in the important motivity source of robot is the one very heavy of determining underwater robot movenent performance and work capacity
The part wanted.Therefore study and explore hair of the propeller error model to operation type underwater robot of operation type underwater robot
Exhibition has a very important significance.
" hippocampus number " ROV project be completed jointly by domestic Duo Jia ROV research and development institution in conjunction with intrinsic advantage, and in
Successfully carry out extra large examination within 2014.It can carry out operation in 4500 meters of deep-seas domain, can complete the fixed high, constant-bearing navigation in seabed, together
When in 4500 meters of deep-seas domain can be realized sea floor sampling, submarine photography etc., realize the breakthrough of China ROV depth of implements, " hippocampus
Number " safety, adaptability and stationarity in deep ocean work etc. be in same high-level with external similar submersible,
China is enriched simultaneously in the research case in the field, accelerates the development of China ROV cause.
Underwater robot under water operation when will receive the effect of many kinds of force, the action rule for studying these power is to establish fortune
The important foundation of movable model, and carry out the basis of ROV control.Establish the coordinate system of unified ROV and propeller；In order to more preferable
Analysis thrust error source, to propeller carry out mathematical modeling；According to analysis situation, respectively to ROV main body horizontal attitude
Thrust, moment of thrust are modeled, and the error model under non-horizontal posture is established by way of posture changing.
Total error model to be established to need to analyze the thrust of ROV, propulsion system is the power core of operation type ROV,
It is the guarantee that ROV realizes underwater operation.The propulsion system for rationally designing ROV, can improve the underwater operating efficiency of ROV, extend
Working time of the ROV under identical energy supply.Therefore, the propulsion system optimized according to different underwater operation task designs
It is particularly significant in ROV application field.
Summary of the invention
The object of the present invention is to provide the errors and parameter correction method of a kind of deep ocean work humanoid robot propeller, with solution
The problem of certainly error of deep ocean work humanoid robot propeller can not being derived and be corrected at present.
Error and the parameter correction method of a kind of deep ocean work humanoid robot propeller the following steps are included:
Step 1, theory analysis determine error source, establish total error model；Underwater operation type ROV (diving under water device)
At deep-sea, according to its motor pattern, its athletic posture can be divided into four kinds, be respectively: horizontal attitude, trim appearance for work
State, roll posture, pitch attitude, wherein horizontal attitude is the conventional posture of ROV work, other postures are non-horizontal posture, often
During appearing in the transformation of the ROV direction of motion, meanwhile, horizontal attitude can regard the special case of other athletic postures as, according to pushing away
Into the space layout of device, four horizontal propellers and three vertical pushers are classified as, successively according to right-hand rule
The change in coordinate axis direction for determining each propeller defines in equivalent geometric figure: propeller T1、T2The forward direction of the x-axis of coordinate system refers to
To the bow of ROV to propeller T3、T4The positive tail for being directed toward ROV of the x-axis of coordinate system is to the z-axis of z-axis and ROV principal body axes
In the same direction, corresponding y-axis meets right-hand rule, and horizontal attitude error can be divided into the angular error of installation and the position of installation is missed
Difference；
Step 2, the total error model according to step 1 establish the propeller setting angle error under horizontal attitude
Model；The model inference of setting angle error is modeled in horizontal attitude thrust, obtain corresponding setting angle, then will be acquired
Numerical value is brought into posture changing matrix, and acquires thrust of the propeller under horizontal coordinates, then model to thrust, when
For ROV main body in horizontal attitude, the torque that the thrust that propeller is applied to it generates converts the result to expression matrix shape
Formula brings thrust into equation torque under horizontal attitude can be obtained and expresses；
Step 3, the total error model according to step 1 establish the propeller error in mounting position under horizontal attitude
Model；Error in mounting position refers to the physical location of propeller due to installation or the long term of external working environment, make its with
There are deviations for the geometric position of design, and then impact to the output of propulsion system；
Step 4, the total error model according to step 1 establish non-horizontal attitude error model；At ROV main body
When non-horizontal posture, can use three kinds of attitude descriptions: rolling, trim, yawing, wherein yawing is also a kind of horizontal attitude；
Step 5 carries out tank experiments；Choose effectively usable point, parameter demarcated, due to horizontal advance movement with
The contact effective area of setback is different, therefore in direction of advance and direction of retreat, calibrating parameters are different, for lateral fortune
It is dynamic, it is symmetrical structure when due to ROV design, therefore calibrating parameters are consistent；
Step 6, error model amendment, completes the error and parameters revision to propeller；According to step 5 mark obtained
Determine parameter, compare amendment with actual design parameter, for non-linear relation, a small range we frequently with local linear
The mode of change is handled, and ' simplifies treatment process with straight Dai Qu ', that is, the first order Taylor passed through in certain specific point indicates two
Person herein near relationship.Simultaneously because the not non-origin symmetry of curve, obtained positive negative linear relationship be not identical.
Preferred: the total error model includes 7 hydraulic-driven ducted propeller propellers, wherein four in level
Face, three in vertical face.
It is preferred: the horizontal attitude thrust modeling in step 2 are as follows:
Horizontal attitude thrust models αi,βi,γi(i=1,2 ..., 7) it is propeller TiIt is sat in space with respect to ROV main body
Mark the theoretical setting angle of system；Δαi,Δβi,ΔγiIt is corresponding propeller in the setting angle error of corresponding position, adopts
Thrust error is modeled with the mode of rotating coordinate transformation, to propeller T1,T2,T3,T4The coordinate system of foundation uses X-Y-
The mode of Z first kind Euler's angular transformation,
For propeller T2Corresponding setting angle has:
Wherein, α=45 °,
Under ROV main body horizontal attitude, propeller T2In the thrust F that horizontal coordinate is fastened2 o′It is expressed as follows:
Ti (i=1,2 ..., 7), and Ti=[Tix Tiy Tiz]T, Tix、Tiy、TizIt is each in ROV principal body axes to represent thrust
Component size on axis.
The present invention has the effect that compared with existing product realizes building to the total error motion model of operation type ROV
It is vertical, according to the demand of total error model inference, corresponding coordinate system is established, and according to actual underwater operation type ROV project, push away
Lead the thrust error model to tally with the actual situation.By carrying out theory analysis, analysis to propeller thrust error model and system
The source of error, and then original Motion Controlling Model is corrected, to be control system, improve the precision and stability of control.
Guarantee that deep ocean work type underwater robot has be perfectly safe reliable power and operating system.
Detailed description of the invention
Fig. 1 ROV total error illustraton of model；
Fig. 2 is propeller T2To the posture changing figure of ROV main body；
Fig. 3 is roll posture horizontal propeller state diagram；
Fig. 4 is roll posture vertical pusher state diagram；
Fig. 5 is roll posture vertical pusher state rearview；
Fig. 6 is trim posture horizontal propeller state diagram；
Fig. 7 is trim posture vertical pusher state diagram；
Fig. 8 is trim posture vertical pusher state rearview；
Fig. 9 is propeller distribution map；
Figure 10 thrust numerical error and thrust relation schematic diagram.
Specific embodiment
The preferred embodiment of the present invention is elaborated below according to attached drawing.
The error and parameter correction method of a kind of deep ocean work humanoid robot propeller of the present invention, including following step
It is rapid:
Step 1, theory analysis determine error source, establish total error model；Underwater operation type ROV (diving under water device)
At deep-sea, according to its motor pattern, its athletic posture can be divided into four kinds, be respectively: horizontal attitude, trim appearance for work
State, roll posture, pitch attitude, wherein horizontal attitude is the conventional posture of ROV work, other postures are non-horizontal posture, often
During appearing in the transformation of the ROV direction of motion, meanwhile, horizontal attitude can regard the special case of other athletic postures as, according to pushing away
Into the space layout of device, four horizontal propellers and three vertical pushers are classified as, successively according to right-hand rule
The change in coordinate axis direction for determining each propeller defines in equivalent geometric figure: propeller T1、T2The forward direction of the x-axis of coordinate system refers to
To the bow of ROV to propeller T3、T4The positive tail for being directed toward ROV of the x-axis of coordinate system is to the z-axis of z-axis and ROV principal body axes
In the same direction, corresponding y-axis meets right-hand rule, and horizontal attitude error can be divided into the angular error of installation and the position of installation is missed
Difference；
Step 2, the total error model according to step 1 establish the propeller setting angle error under horizontal attitude
Model；The model inference of setting angle error is modeled in horizontal attitude thrust, obtain corresponding setting angle, then will be acquired
Numerical value is brought into posture changing matrix, and acquires thrust of the propeller under horizontal coordinates, then model to thrust, when
For ROV main body in horizontal attitude, the torque that the thrust that propeller is applied to it generates converts the result to expression matrix shape
Formula brings thrust into equation torque under horizontal attitude can be obtained and expresses；
Step 3, the total error model according to step 1 establish the propeller error in mounting position under horizontal attitude
Model；Error in mounting position refers to the physical location of propeller due to installation or the long term of external working environment, make its with
There are deviations for the geometric position of design, and then impact to the output of propulsion system；
Step 4, the total error model according to step 1 establish non-horizontal attitude error model；At ROV main body
When non-horizontal posture, can use three kinds of attitude descriptions: rolling, trim, yawing, wherein yawing is also a kind of horizontal attitude；
Step 5 carries out tank experiments；Choose effectively usable point, parameter demarcated, due to horizontal advance movement with
The contact effective area of setback is different, therefore in direction of advance and direction of retreat, calibrating parameters are different, for lateral fortune
It is dynamic, it is symmetrical structure when due to ROV design, therefore calibrating parameters are consistent；
Step 6, error model amendment, completes the error and parameters revision to propeller；According to step 5 mark obtained
Determine parameter, compare amendment with actual design parameter, for non-linear relation, a small range we frequently with local linear
The mode of change is handled, and ' simplifies treatment process with straight Dai Qu ', that is, the first order Taylor passed through in certain specific point indicates two
Person herein near relationship.Simultaneously because the not non-origin symmetry of curve, obtained positive negative linear relationship be not identical.
Further, the total error model includes 7 hydraulic-driven ducted propeller propellers, wherein four in level
Face, three in vertical face.
Further, the horizontal attitude thrust in step 2 models are as follows:
Horizontal attitude thrust modeling, it is assumed that αi,βi,γi(i=1,2 ..., 7) it is propeller TiIn space with respect to ROV master
The theoretical setting angle of body coordinate system, Δ αi,Δβi,ΔγiSetting angle for corresponding propeller in corresponding position misses
Difference models thrust error by the way of rotating coordinate transformation, to propeller T1,T2,T3,T4The coordinate system of foundation is adopted
With the mode of X-Y-Z first kind Euler's angular transformation, the posture changing for finding out propeller to ROV principal body axes is:
With propeller T2For, posture changing matrix are as follows:
By propeller T2Arrangement, obtain corresponding setting angle are as follows:
Wherein, α=45 °,
Thus it obtains, under ROV main body horizontal attitude, propeller T2In the thrust that horizontal coordinate is fastenedIt is expressed as follows:
Ti(i=1,2 ..., 7), and Ti=[Tix Tiy Tiz]T, Tix、Tiy、TizIt is each in ROV principal body axes to represent thrust
Component size on axis；
Similarly, other available three horizontal propellers and three vertical pushers.
When ROV main body is in horizontal attitude, propeller TiThe torque that the thrust being applied to it generates indicates are as follows:
Wherein, [xi yi zi]T, the intersection point of vertical line generation is made in main body by ROV principal body axes origin to propeller axis
Coordinate representation in coordinate system.pi=[xi yi zi]T, it is propeller Ti(i=1,2 ..., 7) coordinate origin is sat in ROV ontology
Coordinate vector representation in mark system；The resultant moment that propeller generates.
Convert the result to expression matrix form are as follows:
Further, the error in mounting position model inference under horizontal attitude:
So-called error in mounting position refer to the physical location of propeller due to installation or the long term of external working environment,
So that there are deviations for the geometric position of itself and design, and then the output of propulsion system is impacted.
Know that thrust is unrelated with installation site by the thrust process under derivation horizontal attitude, therefore error in mounting position pair
It is without influence, therefore expression-form is constant.And the influence to thrust moment is embodied in radius vector piOn, define Δ xi、Δyi、ΔziFor
Radius vector error, then:
pi=[xi+Δxi yi+Δyi zi+Δzi]T
Moment of thrust are as follows:
Further, error model derives under non-horizontal posture: being that roll posture level promotes respectively in conjunction with shown in attached drawing 3
Device state, roll posture vertical pusher state and trim posture vertical pusher state and trim posture vertical pusher shape
State.
Since bow is set as 0 to angle, attitude matrix is simplified are as follows:
Thrust under non-horizontal posture are as follows:
And the thrust method for solving of other propellers is identical,
The error model solution of moment of thrust under non-horizontal posture is same as described above,On the basis of carry out one
Secondary posture changing, i.e. premultiplicationIt can be obtained by statement of the moment of thrust at horizontal coordinates O
Then have to horizontal propeller:
Other propeller torque method for solving are identical.
Further, error model is corrected: for non-linear relation, a small range we frequently with local linearization side
Formula processing ' simplifies treatment process with straight Dai Qu ', i.e., by both indicating in first order Taylor of certain specific point herein
Neighbouring relationship.Simultaneously because the not non-origin symmetry of curve, obtained positive negative linear relationship is not identical, thrust numerical error with
Thrust relation schematic diagram such as Fig. 5, physical relationship are expressed as follows:
Wherein, the numerical error Δ T for the thrust that propeller generates is Δ T in reference axis positive axis+, negative semiaxis is Δ T-, k+, k-Respectively represent slope, b+, b-Represent intercept.
Horizontal propeller T1Thrust simplified expression are as follows:
Since parameter is coupled, so being enabled in order to which simplified model is replaced using new parameter:
Then thrust expression formula are as follows:
The simplification of vertical pusher thrust is identical as horizontal propeller simplified way
Resultant moment simplifies, and connects and non-horizontal posture is discussed, according to transformation:The representation of resultant moment are as follows:
Further, parameter calibration
On the basis of above-mentioned model simplification, axial velocity is only had according to the practical verify data that can be measured, is carried out
Following analysis:
1) resistance of the underwater plane motion of ROV by water, and water resistance is related with movement velocity；
2) effective area of the direction of motion influences drag size；
3) under at the uniform velocity state, acceleration zero, the axial velocity measured is directly proportional to axial thrust；
4) it is distributed according to optimal thrust, ROV determines that the thrust output of each propeller under speed is determining value.
The corresponding relationship of real data Yu independent propeller can be obtained according to above-mentioned analytic process are as follows:
V=kiTi+bi
Wherein, the actual thrust that v is represented, TiThe thrust of independent thruster, Ti,biRepresent its corresponding parameter.
Contact effective area due to horizontal advance movement with setback is different, in direction of advance and retrogressing side
To calibrating parameters are different.It is symmetrical structure when due to ROV design, therefore calibrating parameters are consistent for transverse movement.
In order to be demarcated to parameter, needs to carry out tank experiments, and choose effectively usable point, gained pond data are taken
Mean value rank rear is as follows in table 1
Propeller thrust mean values under 1 different motion mode of table
Due to only needing to demarcate there are two parameter under each propeller one mode, to the number for surpassing three in data group
According to being handled using least square method, the calibrating parameters obtained after processing are as shown in table 2:
2 horizontal propeller parameter calibration of table
It is identical as this process to the calibration process of vertical pusher.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (3)
1. a kind of error and parameter correction method of deep ocean work humanoid robot propeller, which comprises the following steps:
Step 1, theory analysis determine error source, establish total error model；Underwater operation type ROV (diving under water device) work
At deep-sea, according to its motor pattern, its athletic posture can be divided into four kinds, be respectively: horizontal attitude, trim posture, cross
Posture, pitch attitude are rolled, wherein horizontal attitude is the conventional posture of ROV work, other postures are non-horizontal posture, is often appeared in
During the ROV direction of motion converts, meanwhile, horizontal attitude can regard the special case of other athletic postures as, according to propeller
Space layout is classified as four horizontal propellers and three vertical pushers, is successively determined according to right-hand rule each
The change in coordinate axis direction of a propeller defines in equivalent geometric figure: propeller T1、T2The positive of the x-axis of coordinate system is directed toward ROV
Bow to propeller T3、T4The positive tail for being directed toward ROV of the x-axis of coordinate system to, z-axis and the z-axis of ROV principal body axes are in the same direction,
Corresponding y-axis meets right-hand rule, and horizontal attitude error can be divided into the angular error of installation and the location error of installation；
Step 2, the total error model according to step 1 establish the propeller setting angle error model under horizontal attitude；
The model inference of setting angle error is modeled in horizontal attitude thrust, and corresponding setting angle, then the numerical value that will be acquired are obtained
It brings into posture changing matrix, and acquires thrust of the propeller under horizontal coordinates, then model to thrust, as ROV master
In horizontal attitude, the torque that the thrust that propeller is applied to it generates converts the result to expression matrix form, will push away body
The torque that power is brought equation into and be can be obtained under horizontal attitude is expressed；
Step 3, the total error model according to step 1 establish the propeller error in mounting position model under horizontal attitude；
Error in mounting position refers to that the physical location of propeller due to installation or the long term of external working environment, makes itself and design
There are deviations for geometric position, and then impact to the output of propulsion system；
Step 4, the total error model according to step 1 establish non-horizontal attitude error model；When ROV main body is in non-
When horizontal attitude, can use three kinds of attitude descriptions: rolling, trim, yawing, wherein yawing is also a kind of horizontal attitude；
Step 5 carries out tank experiments；Effectively usable point is chosen, parameter is demarcated, due to horizontal advance movement and is retreated
The contact effective area of movement is different, therefore in direction of advance and direction of retreat, calibrating parameters are different, for transverse movement, by
It is symmetrical structure when ROV design, therefore calibrating parameters are consistent；
Step 6, error model amendment, completes the error and parameters revision to propeller；According to step 5 calibration ginseng obtained
Number, compares amendment with actual design parameter, for non-linear relation, a small range we frequently with local linearization
Mode is handled, and ' simplifies treatment process with straight Dai Qu ', i.e., by both indicating in first order Taylor of certain specific point to exist
Relationship near this, simultaneously because the not non-origin symmetry of curve, obtained positive negative linear relationship be not identical.
2. the error and parameter correction method of a kind of deep ocean work humanoid robot propeller according to claim 1, special
Sign is: the total error model includes 7 hydraulic-driven ducted propeller propellers, wherein four in horizontal plane, three
Vertical face.
3. the error and parameter correction method of a kind of deep ocean work humanoid robot propeller according to claim 1 or 2,
It is characterized in that: the horizontal attitude thrust modeling in step 2 are as follows:
Horizontal attitude thrust models αi,βi,γi(i=1,2 ..., 7) it is propeller TiIn space with respect to ROV principal body axes
Theoretical setting angle；Δαi,Δβi,ΔγiSetting angle error for corresponding propeller in corresponding position, using rotation
The mode of coordinate transform models thrust error, to propeller T1,T2,T3,T4The coordinate system of foundation uses X-Y-Z first
The mode of class Euler's angular transformation,
For propeller T2Corresponding setting angle has:
Wherein, α=45 °,
Under ROV main body horizontal attitude, propeller T2In the thrust F that horizontal coordinate is fastened2 o' it is expressed as follows:
Ti (i=1,2 ..., 7), and Ti=[Tix Tiy Tiz]T, Tix、Tiy、TizThrust is represented on each axis of ROV principal body axes
Component size.
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| CN111256732B (en) * | 2020-03-01 | 2023-03-14 | 西北工业大学 | Target attitude error measurement method for underwater binocular vision |
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| CN103942383B (en) * | 2014-04-17 | 2017-06-20 | 哈尔滨工程大学 | The dynamics and kinematics method of estimation of a kind of deep ocean work type underwater robot |
| CN104802971B (en) * | 2015-05-05 | 2017-04-12 | 哈尔滨工程大学 | Deep-sea working ROV (Remotely Operated Vehicle) propeller system |
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