CN-122018363-A - Cooperative control simulation system for underwater robot and umbilical cable system

CN122018363ACN 122018363 ACN122018363 ACN 122018363ACN-122018363-A

Abstract

The invention discloses a cooperative control simulation system of an underwater robot and an umbilical cable system, which belongs to the technical field of ocean engineering simulation and automatic control and is used for analyzing system dynamics characteristics of deep sea operation equipment in a research and development stage. According to the invention, by combining an energy density function, a composite environment modeling method for simulating a sea level altitude field and an LOD dynamic grid, an external interference source with physical reality is provided for a control algorithm, a distributed model predictive control algorithm for uniformly and optimally maintaining underwater robot track tracking and umbilical cable tension safety is constructed, data such as an underwater robot motion state, umbilical cable tension and the like can be output in real time, and algorithm performance test is completed in a virtual environment without relying on high-cost sea test.

Inventors

YU WENSHAN
SONG DALEI
CHEN XIAOPING
JIANG QIANLI
HE TONGFU
LI KUNQIAN
YAO PENG
LI CHONG
ZHOU LIQIN

Assignees

中国海洋大学

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The underwater robot and umbilical cable system cooperative control simulation system is characterized by comprising an environment initialization and marine environment construction module, a mother ship model construction module, an underwater robot and umbilical cable coupling module, an instruction generation module, a man-machine interaction control module and a data acquisition and storage module; The underwater robot and umbilical coupling module includes a virtual simulation engine and a solver.
2. The underwater robot and umbilical system cooperative control simulation system according to claim 1, wherein the sea surface wind speed model is constructed by an environment initialization and marine environment construction module, the sea surface wind speed model comprises a wind spectrum model and an effective wave height is set according to a preset sea condition level, and an average wind speed at a reference height in the wind spectrum model is assigned Introducing an energy density function : ; ; In the formula, For the current calculation of the height, Is the reference height of the wind spectrum model, Is a shape parameter of a wind spectrum model, Is the scale coefficient of the wind spectrum model, As an index of the wind profile height, In order to achieve the frequency of the wind fluctuation, In order to have a dimensionless frequency, Is a dimensionless frequency coefficient; By passing through Calculating a pulsating wind velocity component Comprising a pair of Performing equal frequency sampling, superposing random phases on each frequency component, and converting frequency domain signals into time domain signals through inverse Fourier transformation to obtain 。
3. The underwater robot and umbilical system cooperative control simulation system of claim 2, wherein the base wind speed is superimposed Component of gust Gradual change of wind component Obtaining the combined wind speed Is represented by the expression: ; ; ; ; ; In the formula, For the entered set wind speed, For the maximum wind gust speed, In order to be able to take time, For the start time of the gust of wind, For a sustained period of gusts of wind, At the maximum wind ramp rate, In order to change the start time of the wind, In order to change the end time of the wind, For the duration of time the breeze is kept constant, For the frequency sampling of the total number of points, For the index of the frequency sampling points, , Is the first An energy density function of the frequency sampling points, Is the first A number of frequency sampling points are used, For the frequency sampling interval, Is the first Random phase of the frequency sampling points.
4. The cooperative control simulation system of an underwater robot and umbilical system according to claim 3, wherein the environment initialization and marine environment construction module constructs the marine wave model by using the fast fourier transform based on the altitude field, normal line and spike of the simulated sea level, includes constructing the altitude field of the simulated sea level, and setting the wave number range of the two-dimensional wave space wave number domain as And , , , Is the sea wave edge The spatial wavenumber of the direction(s), Is the sea wave edge The spatial wavenumber of the direction(s), Is the sea wave edge The number of samples of the directional discrete points, Is the sea wave edge The number of samples of the directional discrete points, Is the sea wave edge The sea surface mesh size of the direction, Is the sea wave edge Sea surface mesh size of direction; Spatial position is to Wave height at Represented as a superposition of wave number components in the wave number domain of a two-dimensional sea wave space, frequency domain signal Calculating amplitude by Philips empirical wave spectrum and superposing random phase to generate; By inverse Fourier transform Converting to space domain to obtain sea surface height field : ; In the formula, As a wave vector of the waves, , In units of imaginary numbers, Is a natural exponential function; wave spectrum introducing Phillips experience Determining sea wave height amplitude corresponding to each wave number component: ; In the formula, For the phillips spectrum parameters to be used, Is a two-bit wave vector which is a vector, Is the wave number mode length of the fiber, , In order for the wind to be in the direction of the wind, For the maximum wave to be a wave of maximum magnitude, , For the wind speed of the wind, Gravitational acceleration; Calculating normal vector of each grid point according to spatial variation of altitude field of simulated sea level : ; In the formula, Is that The wave number of the fundamental wave in the direction, , Is that The wave number of the fundamental wave in the direction, ; Introducing a horizontal displacement field Describing the horizontal motion of the wave particles: ; Will be Is decomposed into 、 Two directions: ; ; In the formula, Is that At the position of The component of the direction is used to determine, Is that At the position of A component of direction; representing overlapping waves using jacobian : ; ; ; ; ; In the formula, Is the coefficient of the intensity of the sharp waves, The partial derivative sign is that the overlapped wave is the wave tip formed by wave overlapping; When (when) Is of the determinant type When the value is smaller than 0, a nonlinear compression function pair is adopted And (5) performing correction.
5. The cooperative control simulation system for an underwater robot and umbilical system as claimed in claim 4, wherein the constructing the steady ocean current model by the environmental initialization and ocean environment construction module comprises employing a two-dimensional non-rotational ocean current model , In order to be able to take the velocity of the ocean current, Is the ocean current direction; and importing the three-dimensional model of the mother ship and the underwater robot through the mother ship model building module.
6. The system of claim 5, wherein the means for constructing the model of the dynamics of the coupling of the underwater robot and umbilical comprises means for constructing a geodetic coordinate system E-xyz, an underwater robot body coordinate system O-xyz, and an umbilical local coordinate system btn; configuring inertial matrices for underwater robots in a virtual simulation engine The six-degree-of-freedom motion model based on Fossen marine aircraft dynamics frame is established by the parameters of mass, gravity center and floating center, and umbilical cable is discretized into the model by adopting a centralized mass method Segments and method of making A quality node for each node Establishing an umbilical cable motion control equation: ; In the formula, Is a node Is a quality matrix of the (c) for the (c), Is that The corresponding acceleration rate is set to be equal to the acceleration rate, Is a node Is a function of the gravity of the (c), Is a node Is provided with a buoyancy force of (a), Is a node The resistance to the flow of water is applied, Is the first The elastic tension between the individual nodes is such that, Is the first Elastic tension between individual nodes; Defining umbilical cable initial node constraint, and rigidly constraining the umbilical cable initial node at a mother ship mooring point position; defining the constraint of an umbilical cable end node, synchronizing the position coordinate of the umbilical cable end node with a mooring rope point of the underwater robot in real time, and taking the tension generated by the tail end of a mooring rope as an external force term to be calculated into a stress balance equation of the underwater robot, wherein the stress balance equation of the underwater robot is as follows: ; In the formula, Is a mass matrix of the underwater robot, Is the acceleration of the underwater robot, In the form of a coriolis centripetal force matrix, Is the speed of the underwater robot and, Is a hydrodynamic damping matrix, which is a dynamic damping matrix, In order to return the force matrix to the original position, In order for the thrust and moment vectors to be of interest, As the umbilical tension and moment vectors, The external environment interference vector is the external environment interference vector received by the underwater robot; Definition of stress balance equation, umbilical motion control equation, umbilical starting node constraint, umbilical end node constraint and speed differential of underwater robot And constructing a coupling dynamics equation set, and solving the dynamics equation set by a solver by adopting a fourth-order Dragon-Gregory tower method to obtain a position and posture sequence and a speed sequence of the underwater robot and a position sequence, a speed sequence and tension distribution of each node of the umbilical cable.
7. The cooperative control simulation system of an underwater robot and an umbilical system according to claim 6, wherein the instruction generation module comprises a controller for acquiring pose sequences of the underwater robot and umbilical end tension data, deconstructing the underwater robot and the umbilical coupling system into an underwater robot motion subsystem and a winch umbilical retraction subsystem, and establishing a state space prediction model; roll angle based on underwater robot Pitch angle Heading angle Longitudinal speed Transverse velocity Vertical speed Angular velocity of roll Pitch angle rate And yaw rate Constructing a state vector of an underwater robot The method comprises the following steps: ; In the formula, Is that The position and the posture of the underwater robot at the moment, Is that The linear speed and the angular speed of the underwater robot at any moment; The control input being propeller thrust The state vector of the winch umbilical cable winding and unwinding subsystem is defined as the position and speed of each node of the cable in the geodetic coordinate system, and the control input Is defined as the difference between the current speed of each node of the cable and the previous speed, and in each sampling period, the current speed is calculated And the position speed of the umbilical cable node as an initial value, in the prediction time domain Predicting state information of the underwater robot motion subsystem and the winch umbilical cable winding and unwinding subsystem by using a state space prediction model; constructing a quadratic programming objective function containing multiple targets for the underwater robot and the umbilical coupling system : ; ; ; ; In the formula, 、 And In order to replace the variable(s), Is the desired reference state of the underwater robot, Is a weighted matrix of the state errors, Is used as the control input of the underwater robot, At the expense of the input of the underwater robot, In order to control the weighting matrix of the input cost, For the tension of the umbilical cable, Is that At the expense of (a) the number of (c) is, As a weighting matrix for the tension costs, The weighting coefficients for the sag penalty term, Is the head end of the umbilical cable, Is the end of the umbilical cable, In order for the coefficient of sag to be a factor, For the length of the cable, A weight matrix of costs is input for the cable node, At the cost of the input of the umbilical node.
8. The underwater robot and umbilical system cooperative control simulation system of claim 7, wherein constraints are set on the underwater robot and umbilical, and state constraints are built on the underwater robot: ; In the formula, Is the lower limit of the state vector of the underwater robot, Is the upper limit of the state vector of the underwater robot; Building control constraints on the control inputs: ; In the formula, Is the lower limit of the control input of the underwater robot, An upper limit for control input of the underwater robot; Setting umbilical cable constraints: ; ; ; In the formula, Is the first The position of the head-end node connected to the mother ship at the moment, Is the first The position of the mother ship is changed at the moment, Is the first The speed of the head-end node connected to the mother ship at the moment, Is the first The speed of the mother ship is set at the moment, For the purpose of labeling the nodes, For the identification of the mother ship, In order to connect the nodes to the mother ship, Is the first The position of the underwater robot at the moment, Is the position of the tail end tie point under the coordinate system of the underwater robot body, Is a transformation matrix from the underwater robot body coordinate system to the geodetic coordinate system, Is the first The position of the end node connected to the underwater robot at the moment, Is the first The speed of the end node connected to the underwater robot at the moment, Lower limits for underwater robot and umbilical system inputs, An upper limit input for the underwater robot and umbilical system; The coupled dynamics equations and the umbilical constraints together constitute a dynamics constraint.
9. The collaborative control simulation system of an underwater robot and umbilical system according to claim 8, wherein at each sampling instant, a constrained quadratic programming optimization problem comprising an objective function, a kinetic constraint, a control constraint and a state constraint is constructed and solved by a smooth newton method to obtain an optimal control increment sequence in a prediction time domain; performing model predictive control at each sampling instant using smooth Newton method, including extracting control time domain The optimal control increment sequence of the first step length is converted into a propeller voltage signal and winch frequency, an instruction is issued to a simulation execution layer, when the next sampling time comes, the underwater robot and the umbilical cable system perform feedback correction by using the actual measurement state, a prediction model is reinitialized, and the constrained quadratic programming optimization problem is solved in a rolling mode until the processing of all the sampling times is completed; The underwater robot motion subsystem and the winch umbilical cable winding and unwinding subsystem share predicted state information and alternately iterate to solve the constrained quadratic programming optimization problem.
10. The underwater robot and umbilical system cooperative control simulation system of claim 9, wherein the human-machine interactive control module comprises an ocean parameter configuration interface, an underwater robot and umbilical system simulation test interface, and a data playback interface; The data acquisition and storage module records the speed and position data of the underwater robot and the tension data of the tail end of the umbilical cable, and generates a playable log and report.

Description

Cooperative control simulation system for underwater robot and umbilical cable system Technical Field The invention discloses a cooperative control simulation system of an underwater robot and an umbilical cable system, and belongs to the technical field of ocean engineering simulation and automatic control. Background With the rapid expansion of ocean resource development to the deep sea field, an underwater robot (underwater robot) and umbilical cable coupling system is used as core equipment for deep sea exploration, resource exploitation and other operations, and the stable operability and the control accuracy z directly determine success and failure of an operation task. At present, the performance test and control algorithm verification of the underwater robot-umbilical cable coupling system mainly depends on two modes of actual sea test and traditional simulation software analysis, and has obvious technical defects: The actual sea test is carried out in a complex and changeable deep sea environment, so that the test cost is high, the period is long, the equipment is damaged and the test data are distorted due to the fact that the test is easily interfered by wind and wave currents, submarine topography and the like, and serious technical risks and economic cost hidden dangers exist; although the traditional simulation software such as ROS, MATLAB and the like can finish basic simulation calculation, the visualization degree is low, the dynamic coupling state of the underwater robot and the umbilical cable and the interaction process with the complex marine environment are difficult to intuitively reproduce, and high-fidelity visual feedback and multi-dimensional data support cannot be provided for algorithm verification and system optimization; The existing simulation research mostly has the limitation of single-dimension analysis, partial research is carried out on tension characteristics of most focusing umbilical cables, tension fluctuation of the focusing umbilical cables under different sea conditions and depths is analyzed, but the motion state of the underwater robot is not related, and in addition, the simulation research is carried out on the underwater robot by carrying out kinematics, dynamics analysis or algorithm verification, umbilical cable tension interference is often ignored, modeling is carried out only on the underwater robot body, so that a large deviation exists between a simulation result and an actual operation scene of dynamic coupling of the underwater robot and the umbilical cable, and the optimization and verification requirements of a system level cannot be supported. In addition, in the prior art, a comprehensive simulation platform capable of simultaneously realizing high-fidelity reproduction of a complex marine environment, dynamic coupling simulation of an underwater robot-umbilical cable system, on-line verification of a multi-control algorithm and full-flow data acquisition backtracking is needed, and a researcher and a developer are difficult to complete full-dimension test and algorithm iteration of a coupling system in a low-risk and low-cost virtual environment. Therefore, the comprehensive, high-fidelity and multifunctional underwater robot-umbilical cable coupling system simulation platform is explored and developed to support complex marine environment reproduction, dynamic coupling process visualization and cooperative control algorithm performance verification, and the method becomes an urgent need and an important direction of technical development in the current deep sea equipment research and development field. Disclosure of Invention The invention aims to provide a cooperative control simulation system of an underwater robot and an umbilical cable system, which is used for solving the problem that in the prior art, a researcher is difficult to complete full-dimension test and algorithm iteration of a coupling system in a low-risk and low-cost virtual environment. The underwater robot and umbilical cable system cooperative control simulation system comprises an environment initialization and marine environment construction module, a mother ship model construction module, an underwater robot and umbilical cable coupling module, an instruction generation module, a man-machine interaction control module and a data acquisition and storage module; The underwater robot and umbilical coupling module includes a virtual simulation engine and a solver. Through an environment initialization and marine environment construction module, a sea surface wind speed model is constructed, the sea surface wind speed model comprises a wind spectrum model and an effective wave height is set according to a preset sea condition level, and the average wind speed at a reference height in the wind spectrum model is assignedIntroducing an energy density function: ; ; In the formula,For the current calculation of the height,Is the reference height of the wind spectrum model,Is a sha