水下机器人抗波浪扰动动力定位研究

Research on Dynamic Positioning of ROV Anti-waves

摘要:

针对水下机器人近水面运动受到波浪干扰而产生的不确定性问题,结合所研制的新型海洋工程模态切换机器人MC-ROV,文章基于CFD法建立动力学模型,进行6DOF动力定位分析；根据定位误差设计力和力矩分配策略,采用非奇异终端滑膜控制(NTSM)对推力予以补偿,以减小由波浪等随机带来的影响,并采用无味卡尔曼(UKF)实时估计水下机器人的状态；仿真结果表明,该方法具有良好的动力定位效果,并且在受扰动后可以迅速调整动力分配策略,减小其带来的负面影响。

Abstract:

In terms of the uncertainties induced by wave disturbances when an underwater vehicle is operated by the surface of water and combined with the novelty Model-Converted Remotely Operated Vehicle (MC-ROV) of ocean engineering, a dynamic model based on CFD is built to analyse 6DOF positioning. A strategy of force and moment allocations is designed according to positioning error, then compensating it with an algorithm known as Non-singular Terminal Sliding Model (NTSM) to low the impact brought by waves likewise. Meanwhile Unscented Kalman Filter (UKF) is utilized to estimate the real-time states of the vehicle. Simulation results present that this algorithm makes the underwater vehicle reach a pre-given position rapidly and effectively, and it can adjust the strategy of force and moment promptly when encounters with perturbations so that reduces the negative effects.