CN112506052B - Control method for resisting rotational interference of holder of underwater archaeological robot - Google Patents
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Abstract
The invention provides a control method for resisting rotational interference of a holder of an underwater archaeological robot. The method consists of two parts of feedforward compensation and feedback control. The feed forward compensation consists of the following two parts: 1) and performing dynamic modeling on the holder rotating equipment by using a Newton-Euler iteration method by using model prior information, and solving the coupling force and moment generated by the holder rotating equipment on the robot body part. 2) And (3) regarding the external environment disturbance, the modeling error and the tripod head rotating equipment disturbance calculation error as lumped disturbance, and estimating the lumped disturbance by using a nonlinear disturbance observer. And the feedback control part uses sliding mode control, and introduces a saturation function in an exponential approximation law to reduce the sliding mode buffeting phenomenon after defining a tracking error and constructing a sliding mode surface. The invention fully utilizes the prior information of the robot holder structure to carry out mechanical calculation, does not need to install external equipment, and overcomes the influence of other interferences such as external environment disturbance, modeling error and the like.
Description
Technical Field
The invention relates to the technical field of underwater robot control, in particular to a control method for resisting rotational interference of a tripod head of an underwater archaeological robot.
Background
China has a wide sea area, a long coastline and dense inland water areas, contains various and huge underwater cultural relics, and is urgently required to be excavated and protected. In order to overcome the problems of high cost, high danger and low efficiency of an artificial diving archaeological mode, underwater robot technology is introduced into the field of underwater archaeology. The underwater archaeological robot can realize underwater six-degree-of-freedom motion and is also provided with a holder actuating mechanism, and the rotating angles of the Doppler velocimeter and the acoustic and optical detection device can be independently controlled, so that the underwater archaeological robot meets the navigation and detection requirements under various conditions in underwater archaeological operation.
However, in the operation process of the robot, because the mass and the volume of the holder rotating equipment are relatively large, coupling interference which is not negligible to the robot body part can be generated during rotation, and the instability of the robot motion can be possibly caused. In addition, the underwater archaeological robot is a system with strong nonlinear characteristics, and can be interfered by unknown underwater complex environment in the operation process. This requires that the control system must be able to handle the effects of head rotation disturbances and other disturbances simultaneously.
At present, related research on underwater robot control under the interference of holder rotating equipment is lacked at home and abroad, and the most similar research is related research under the interference of underwater mechanical arm motion. Aiming at the interference caused by the underwater mechanical arm, the corresponding methods of researchers mainly include the following three methods: the first method is to install a force sensor on the mechanical arm and calculate the magnitude of the disturbance force. This approach has the advantage of not requiring additional processing by the controller; the main disadvantages are the high cost required and the limited performance of the force sensor. And secondly, a large number of water pool experiments are carried out, and an influence curve of interference generated when the mechanical arm moves at different frequencies to a certain degree of freedom of the carrier aircraft is obtained. The method has the advantages of clear theory; the main disadvantages are the high workload and the neglect of laboratory data of the effects of complex external environmental disturbances. A third approach is to treat the disturbances caused by the mechanical arm movement as part of the overall system disturbance. The advantage of this approach is that the controller design does not need to additionally consider the problem of coupling interference; the main shortcoming is that the prior information of the existing equipment is wasted, and the effect improvement of the controller is limited to a certain extent.
Disclosure of Invention
The underwater archaeological robot needs to realize variable-angle multi-view detection while performing underwater six-degree-of-freedom motion, and in order to realize the detection function, the underwater archaeological robot adopts a holder actuating mechanism on a hardware structure, and can independently control the rotation angles of a Doppler velocimeter, an acoustic detection device and an optical detection device which are arranged on a holder.
The invention provides a method for controlling the underwater archaeological robot to resist the rotational interference of a holder, aiming at the problem that the rotational equipment of the holder can generate coupling interference on the body part of the underwater archaeological robot, and considering model uncertainty and unknown external interference in the system control of the underwater archaeological robot.
The method consists of two parts of feedforward compensation and feedback control. The feed forward compensation consists of the following two parts: 1) and performing dynamic modeling on the holder rotating equipment by using the model prior information and using a Newton-Euler iteration method, and solving the coupling force and the moment generated by the holder rotating equipment on the robot body part. 2) The external environment Disturbance, the modeling error and the tripod head rotating equipment Disturbance calculation error are regarded as lumped disturbances and are estimated by using a Nonlinear Disturbance Observer (NDO). And the feedback control part uses sliding mode control, and introduces a saturation function in an exponential approximation law to reduce the sliding mode buffeting phenomenon after defining a tracking error and constructing a sliding mode surface.
The invention fully utilizes the prior information of the robot holder structure to carry out mechanical calculation, does not need to install external equipment, and overcomes the influence of other interferences such as external environment disturbance, modeling error and the like.
The technical scheme of the invention is as follows:
the control method for resisting rotational interference of the holder of the underwater archaeological robot comprises the following steps:
step 1: establishing a six-degree-of-freedom motion model of the underwater archaeological robot:
wherein eta is a generalized pose vector of the underwater archaeological robot under a ground coordinate system, J is a coordinate conversion matrix from a carrier coordinate system of the underwater archaeological robot to the ground coordinate system, v is a generalized velocity vector of the underwater archaeological robot under the carrier coordinate system, and M isRBIs an inertia coefficient matrix of the underwater archaeological robot, CRB(v) The matrix is a matrix of the Cogowski force and the centripetal force of the underwater archaeological robot, and g (eta) is the restoring force and the moment of the underwater archaeological robot; delta is the coupling action force and moment generated by holder rotating equipment arranged on the underwater archaeological robot to the robot body part; tau iscControl forces and moments, τ, generated for underwater archaeological robot thrustersdisCalculating errors for lumped interference of the underwater archaeological robot system, including external environment interference, hydrodynamic interference and holder rotating equipment interference;
step 2: method for calculating coupling force and moment generated by holder rotating equipment by using Newton-Euler iteration method
Wherein,
the calculated values of the coupling force and the moment generated by the tripod head rotating equipment to the body part of the underwater archaeological robot are calculated by the force fcAnd a moment ncComposition is carried out; j. the design is a squarecThe coordinate transformation matrix is a coordinate transformation matrix from a carrier coordinate system of the underwater archaeological robot to a fixed coordinate system, wherein the fixed coordinate system is a coordinate system which is set by taking the midpoint of a rotating shaft of a holder in holder rotating equipment as an original point, so that the position vector from the original point of the carrier coordinate system to the original point of the fixed coordinate system is ensured to be unchanged in the rotating process, and each coordinate axis of the fixed coordinate system is correspondingly parallel to the coordinate axis of the carrier coordinate system when the holder does not rotate; pCFor the expression of the position vector for fixedly connecting the origin of the coordinate system to the mass center of the rotating equipment of the holder in the fixedly connected coordinate system, PcorgIs the expression of the position vector from the origin of the carrier coordinate system to the origin of the fixed coordinate system in the carrier coordinate system, FcAnd NcThe force and the moment of the tripod head rotating equipment on the center of mass are respectively, and the expressions are as follows:
wherein m iscFor the mass of the pan-tilt rotating equipment, IcsIs a rotational inertia matrix, w, of the rotational equipment of the holder at the center of masscAnd vcsThe angular velocity and the linear velocity of the mass center of the holder rotating equipment under a fixed coordinate system are respectively, and the expressions are as follows:
wherein, thetacIs the rotation angle of the tripod head rotating equipment under the control of the steering engine, w is the angular velocity of the underwater archaeological robot in a carrier coordinate system, vcFor the linear velocity of the fixed coordinate system origin under the fixed coordinate system, the expression is as follows:
the upsilon is the linear velocity of the underwater archaeological robot in a carrier coordinate system;
and 3, step 3: designing a non-linear disturbance observer to estimate lumped disturbances
Wherein,
in order to provide an estimate of the lumped interference,
is as followsA control output at a time and having an initial value of 0, z being an auxiliary intermediate variable,
in order to be an observer gain matrix,
for the diagonal elements of the observer gain matrix, p (v) is defined as:
and 4, step 4: and (3) controlling the underwater archaeological robot six-degree-of-freedom motion model designed in the step (1) by adopting the following control law based on the estimation calculation results in the step (2) and the step (3): the control law is as follows:
wherein,
is a slip form surface and is provided with a plurality of slip forms,
for the expected pose vector, e ═ η - ηdFor tracking error, lambda is a normal number meeting the Hurwitz condition, and the approach law of the sliding mode surface is an exponential approach law
Wherein the saturation function in the approximation law is defined as:
where ζ is the width of the boundary layer.
Advantageous effects
The method fully utilizes the structural information of the underwater archaeological robot model, preferably uses a Newton-Euler iteration method to calculate the coupling acting force and moment of the tripod head rotating equipment to the robot body part when the tripod head rotating equipment rotates under the control of the steering engine, and uses the coupling acting force and moment as a part of feed-forward compensation in the design of the controller, thereby effectively reducing the influence of tripod head rotation interference on the motion of the underwater archaeological robot.
Meanwhile, considering that the motion of the underwater archaeological robot in the operation engineering is also influenced by factors such as external environment disturbance, modeling error, tripod head rotating equipment interference calculation error and the like, the invention takes the above items as lumped interference, and preferably designs a nonlinear interference observer (NDO) to estimate the lumped interference. The NDO lumped interference estimated value and the holder rotation interference calculated value jointly form a feedforward compensation part of the control system.
The feedback control part adopts sliding mode control, under the condition that the overall interference of the system is reduced by feed forward compensation, the control term gain of the whole system is reduced, which has positive effect on inhibiting the buffeting problem of the sliding mode control, and simultaneously, the sign function in the index approach law is preferably replaced by the designed saturation function, so that the buffeting phenomenon of the sliding mode control is further inhibited.
Feedforward compensation and feedback control jointly constitute anti cloud platform and rotate disturbance control system, have solved the control problem of underwater archaeology robot under the circumstances such as having cloud platform rotating equipment interference, external environment disturbance and modeling error.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a structure diagram of an underwater archaeological robot with a holder rotating device.
FIG. 2 is an anti cloud platform of underwater archaeology robot and rotates interference control system.
Fig. 3 is a diagram of the overall results of the trajectory tracking experiment performed by using the controller, sliding mode control based on NDO, sliding mode control based on rotational disturbance force compensation, and sliding mode control, respectively.
FIG. 4 shows errors of four control methods in the x direction in the trajectory tracking experiment.
Fig. 5 shows the error of the four control methods in the y direction in the trajectory tracking experiment.
FIG. 6 shows the error of the four control methods in the z direction in the trajectory tracking experiment.
FIG. 7 shows the heading angles of four control methods in the trajectory tracking experiment.
Fig. 8 shows the lumped interference estimated by NDO when a trajectory tracking experiment is performed using the controller proposed by the present invention.
Fig. 9 shows coupling force and moment generated by the pan-tilt rotating device to the body part of the underwater archaeological robot when the controller provided by the invention is used for a track tracking experiment.
Fig. 10 shows the thrust of the thruster when the controller proposed by the present invention is used in the exponential approximation law for the trajectory tracking experiment using the saturation function sat(s).
Fig. 11 shows the thrust of the thruster when the sign function sgn(s) is used in the exponential approximation law in the trajectory tracking experiment using the controller proposed by the present invention.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
In this embodiment, model parameters are set according to an underwater archaeological robot of a certain model: m isc＝10.55kg，Pcorg＝[-0.104m,-0.040m,0.518m]T，PC＝[0.009m,-0.002m,-0.007m]TThe rotational inertia matrix of the rotational equipment of the holder at the centroid is IcsBiag (0.21, 0.44, 0.47) in kg · m2. Observer gain diagonal element of
The parameter used by the controller is lambda 1H is 0.4, k is 0.2, and ζ is 1. Setting the initial course angle psi of the underwater archaeological robot to be 60 degrees, the initial pitch angle theta and the roll angle
Are all 0 degrees, and the initial position is the origin of coordinates. Gaussian white noise with the mean value of 0 and the variance of 0.1 is used as external environment interference, and the numerical value updating period is 5 seconds; there is a model error
Wherein, MAMIs an additional quality matrix; cAM(v) Is an additional coriolis force and centripetal force matrix; d (v) is a damping matrix. The tracking track is designed as follows:
the rotation rule of the holder rotating equipment is designed as follows: when t is more than 0s and less than 40s, the pitch angle rotates according to 10sin (pi t/80); when t is more than 60s and less than 100s, the yaw angle rotates according to 10sin (t/80).
Firstly, establishing a six-degree-of-freedom motion model of an underwater archaeological robot:
wherein eta is a generalized pose vector of the underwater archaeological robot under a ground coordinate system, J is a coordinate conversion matrix from a carrier coordinate system of the underwater archaeological robot to the ground coordinate system, v is a generalized velocity vector of the underwater archaeological robot under the carrier coordinate system, and M isRBIs an inertia coefficient matrix, C, of the underwater archaeological robotRB(v) The matrix is a matrix of the Cogowski force and the centripetal force of the underwater archaeological robot, and g (eta) is the restoring force and the moment of the underwater archaeological robot; delta is the coupling action force and moment generated by holder rotating equipment arranged on the underwater archaeological robot to the robot body part; tau iscControl forces and moments, τ, generated for underwater archaeological robot thrustersdisIs under waterLumped interference of the archaeological robot system comprises external environment interference, hydrodynamic interference and tripod head rotating equipment interference calculation errors;
secondly, calculating the coupling force and moment generated by the rotating equipment of the holder by using a Newton-Euler iteration method
Wherein,
the calculated values of the coupling force and the moment generated by the tripod head rotating equipment to the body part of the underwater archaeological robot are calculated by the force fcAnd a moment ncComposition is carried out; j. the design is a squarecThe coordinate transformation matrix is a coordinate transformation matrix from a carrier coordinate system of the underwater archaeological robot to a fixed coordinate system, the fixed coordinate system is a coordinate system which is established by taking the middle point of a holder rotating shaft in holder rotating equipment as an original point, the position vector from the original point of the carrier coordinate system to the original point of the fixed coordinate system is ensured to be unchanged in the rotating process, and each coordinate axis of the fixed coordinate system is correspondingly parallel to the coordinate axis of the carrier coordinate system when the holder does not rotate; pCIs the expression of the position vector from the fixed coordinate system origin to the mass center of the rotating equipment of the holder in the fixed coordinate system, PcorgIs the expression of the position vector from the origin of the carrier coordinate system to the origin of the fixed coordinate system in the carrier coordinate system, FcAnd NcThe force and the moment of the tripod head rotating equipment on the center of mass are respectively, and the expressions are as follows:
wherein m iscFor the mass of the pan-tilt rotating apparatus, IcsIs a rotational inertia matrix, w, of the rotational equipment of the holder at the center of masscAnd vcsThe angular velocity and the linear velocity of the mass center of the holder rotating equipment under a fixed coordinate system are respectively, and the expressions are as follows:
wherein, thetacIs the rotation angle of the tripod head rotating equipment under the control of the steering engine, w is the angular velocity of the underwater archaeological robot in a carrier coordinate system, vcFor the linear velocity of the fixed coordinate system origin under the fixed coordinate system, the expression is as follows:
the upsilon is the linear velocity of the underwater archaeological robot in a carrier coordinate system;
thirdly, designing a non-linear disturbance observer (NDO) to estimate the lumped disturbance
Wherein,
in order to provide an estimate of the lumped interference,
is at the last momentThe control output of the moment and the initial value is 0, z is the auxiliary intermediate variable,
in order to be an observer gain matrix,
for the diagonal elements of the observer gain matrix, p (v) is defined as:
then, based on the estimation calculation results of the step 2 and the step 3, the underwater archaeological robot six-degree-of-freedom motion model designed in the step 1 is controlled by adopting the following control law: the control law is as follows:
wherein,
is a slip form surface and is provided with a plurality of slip forms,
for the expected pose vector, e ═ η - ηdFor tracking error, lambda is a normal number meeting the Hurwitz condition, and the approach law of the sliding mode surface is an exponential approach law
And h > 0, k > 0, wherein the saturation function in the approximation law is defined as:
where ζ is the width of the boundary layer.
Finally, aiming at the control law, the stability of the control law is proved by adopting the Lyapunov stability principle.
Taking a Lyapunov candidate function:
wherein,
the change in disturbance is considered to be slow with respect to the dynamics of the disturbance observer, i.e.
The derivative with respect to time is taken for V, then:
due to the presence of NDO
And is composed of
Can obtain the product
Further obtain
Substituting the control law into the formula, and considering that the interference calculation error of the holder rotating equipment is contained in the lumped interference estimation error, further obtaining the interference calculation error
According to the following scaling facts:
to obtain
Therein, there are
Can obtain sTksat(s) ≧ 0. Meet at the time of design parameter
Then there is
If and only if
Time of flight
It can be demonstrated that the closed loop control system is asymptotically stable.
Aiming at the underwater archaeological robot model with the holder rotating equipment in the embodiment, four controllers are designed for simulation comparison, and the control modes are respectively the controller provided by the invention, namely a sliding mode controller based on NDO and holder rotation interference compensation, a sliding mode controller based on NDO, a sliding mode controller based on holder rotation interference compensation and a common sliding mode controller. It can be seen from fig. 3 that the four controllers can realize the trajectory tracking control, but the effects are different. As can be seen from fig. 4, 5 and 6, the position error is gradually reduced as the pan head rotation disturbance compensation and NDO are added. The latter two controllers lacking NDO have steady-state errors, while the second and fourth controllers lacking pan-tilt rotation interference compensation have fluctuating position errors affected by the interference of pan-tilt rotation equipment. As can be seen from fig. 7, the latter two controllers have poor control effect on the course angle, the second controller has good control effect, the error is close to 0, and weak fluctuation exists, and the first controller has the best effect, and the error is converged quickly and is basically kept at 0. The comprehensive comparison shows that the controller provided by the invention has the optimal control effect, and the position error and the course angle error can be converged to 0 at the fastest speed. Fig. 8 and 9 show the lumped disturbances estimated by NDO and the coupling forces and moments generated by the pan-tilt-turn device, respectively, when the controller proposed by the present invention is used for simulation experiments. As can be seen from comparison between fig. 10 and fig. 11, the introduction of the saturation function in the present invention has a positive effect on suppressing the chattering phenomenon of the sliding mode control.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (3)
1. A control method for resisting rotational interference of a holder of an underwater archaeological robot is characterized by comprising the following steps:
step 1: establishing a six-degree-of-freedom motion model of the underwater archaeological robot:
wherein eta is a generalized pose vector of the underwater archaeological robot under a ground coordinate system, J is a coordinate conversion matrix from a carrier coordinate system of the underwater archaeological robot to the ground coordinate system, v is a generalized velocity vector of the underwater archaeological robot under the carrier coordinate system, and M isRBIs an inertia coefficient matrix of the underwater archaeological robot, CRB(v) The matrix is a matrix of the Cogowski force and the centripetal force of the underwater archaeological robot, and g (eta) is the restoring force and the moment of the underwater archaeological robot; delta is the coupling action force and moment generated by holder rotating equipment arranged on the underwater archaeological robot to the robot body part; tau iscFor underwater archaeological robotControl forces and moments, tau, produced by propellersdisLumped interference of the underwater archaeological robot system;
step 2: iterative calculation of coupling force and moment generated by holder rotating equipment
Wherein,
the calculated values of the coupling force and the moment generated by the tripod head rotating equipment to the body part of the underwater archaeological robot are calculated by the force fcAnd a moment ncComposition is carried out; j. the design is a squarecThe coordinate transformation matrix is a coordinate transformation matrix from a carrier coordinate system of the underwater archaeological robot to a fixed coordinate system, wherein the fixed coordinate system is a coordinate system which is set by taking the midpoint of a rotating shaft of a holder in holder rotating equipment as an original point, so that the position vector from the original point of the carrier coordinate system to the original point of the fixed coordinate system is ensured to be unchanged in the rotating process, and each coordinate axis of the fixed coordinate system is correspondingly parallel to the coordinate axis of the carrier coordinate system when the holder does not rotate; p isCIs the expression of the position vector from the fixed coordinate system origin to the mass center of the rotating equipment of the holder in the fixed coordinate system, PcorgIs the expression of the position vector from the origin of the carrier coordinate system to the origin of the fixed coordinate system in the carrier coordinate system, FcAnd NcThe force and the moment of the tripod head rotating equipment on the center of mass are respectively, and the expressions are as follows:
wherein m iscFor the mass of the pan-tilt rotating apparatus, IcsIs a rotational inertia matrix, w, of the rotational equipment of the holder at the center of masscAnd vcsRespectively for angular velocity and linear velocity of cloud platform rotating equipment barycenter under the fixed coordinate system, the expression is:
wherein, thetacIs the rotation angle of the tripod head rotating equipment under the control of the steering engine, w is the angular velocity of the underwater archaeological robot in a carrier coordinate system, vcFor the linear velocity of the fixed coordinate system origin under the fixed coordinate system, the expression is as follows:
the upsilon is the linear velocity of the underwater archaeological robot in a carrier coordinate system;
and step 3: designing a non-linear disturbance observer to estimate lumped disturbances
Wherein,
in order to provide an estimate of the lumped interference,
is the control output at the previous time and has an initial value of 0, z is an auxiliary intermediate variable, L ═ diag (L, L, L, L, L, L) is the observer gain matrix, L is the diagonal element of the observer gain matrix, and p (v) is defined as:
and 4, step 4: and (3) controlling the underwater archaeological robot six-degree-of-freedom motion model designed in the step (1) by adopting the following control law based on the estimation calculation results in the step (2) and the step (3): the control law is as follows:
wherein,
is a slip form surface, ηdFor the expected pose vector, e ═ η - ηdFor tracking error, lambda is a normal number meeting the Hurwitz condition, and the approach law of the sliding mode surface is an exponential approach law; sliding form surface s ═ s1,s2,s3,s4,s5,s6]TThe exponential approach law is
And h > 0, k > 0, wherein the saturation function in the approximation law is defined as:
ζ is the width of the boundary layer.
2. The method for controlling the underwater archaeological robot to resist the rotational interference of the pan/tilt/zoom lens according to claim 1, wherein in the step 1, the lumped interference of the underwater archaeological robot system comprises external environment interference, hydrodynamic interference and the rotational device interference calculation error of the pan/tilt/zoom lens.
3. The method for controlling the underwater archaeological robot to resist the rotational interference of the pan-tilt according to claim 1,
and 2, calculating the coupling acting force and moment generated by the holder rotating equipment by using a Newton-Euler iteration method.
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