水下狭窄环境中ROV的自主返回控制  

Autonomous remotely operated vehicle return control in a narrow underwater environment

作　　者：昝英飞 邱天 袁利毫[1] 王会峰[2] 黄福祥[2] 阴炳钢 ZAN Yingfei;QIU Tian;YUAN Lihao;WANG Huifeng;HUANG Fuxiang;YIN Bingang(College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China;Offshore Oil Engineering Co.,LTD,Tianjin 300450,China)

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001 [2]海洋石油工程股份有限公司,天津300450

出　　处：《智能系统学报》2022年第4期744-751,共8页CAAI Transactions on Intelligent Systems

基　　金：国家重点研发计划项目(2018YFC0309401);黑龙江省博士后基金项目(LBH-Z19054);陵水半潜式生产平台研究专项项目(LSZX-2020-HN-02).

摘　　要：为满足缆控水下机器人(remotely operated vehicle,ROV)在水下狭窄环境中作业完毕后的顺利回收需求,研究仿真ROV的路径跟踪以及动力定位系统。基于非对称ROV构建数学模型,利用李雅普诺夫函数,采用反向递推和反馈线性化,设计了基于反步法的自适应控制器。该控制器通过反馈线性化,将已知非线性参数转化成线性参数,不确定的非线性参数应用自适应控制律进行放宽。通过仿真对该控制器应用于ROV的可行性进行验证表明:基于反步自适应控制以及视线导引的算法,ROV在水下狭窄环境中路径跟踪效果良好,动力定位稳定,鲁棒性良好,能够很好地解决ROV模型的不确定性与非线性问题。该控制器为ROV在水下狭窄环境中的回收作业提供了很好的解决方案。The path following and dynamic positioning systems of the simulated remotely operated vehicle(ROV)were studied to meet the successful recovery requirements of the ROV after the completion of the operation in the narrow underwater environment.On the basis of a mathematical model built by asymmetric ROV,an adaptive controller based on the backstepping method was designed using the Lyapunov function,reverse recursion,and feedback linearization.Feedback linearization converts known nonlinear parameters into linear parameters,while adaptive control laws relax uncertain nonlinear parameters.The feasibility of applying the controller to the ROV was verified by simulation.Based on the backstepping adaptive control and line-of-sight guidance algorithm,the ROV has a good path following effect in the narrow underwater environment,good robustness,and stable dynamic positioning,which can well solve the uncertainty and nonlinear problems of the ROV’s model.This controller provides an excellent solution for ROV recovery in a narrow underwater environment.

关 键 词：缆控水下机器人 狭窄环境 路径跟踪 动力定位 数值仿真 李雅普诺夫函数 反步自适应 视线导引算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]