ROV仿真平台技术研究  

Research on Simulation Platform Technology for ROV

作　　者：杜凯冰 刘浩平 田招招 DU Kaibing;LIU Haoping;TIAN Zhaozhao(Soil Machine Dynamics Ltd.,Newcastle,NE286UZ,United Kingdom;Zhuzhou CRRC Times Electric Co.,Ltd.,Zhuzhou,Hunan 412001,China)

机构地区：[1]英国SMD公司,纽卡斯尔NE286UZ [2]株洲中车时代电气股份有限公司,湖南株洲412001

出　　处：《控制与信息技术》2024年第5期66-71,共6页CONTROL AND INFORMATION TECHNOLOGY

摘　　要：遥控有缆机器人(ROV)在海洋资源开发、管道/线缆铺设中发挥着重要作用,但其海洋实验成本高昂,且要求操作员具有丰富的操作经验。为辅助培训ROV操作员并提高ROV实验效率,文章设计了一种硬件在环、具有三维可视化功能的仿真平台,其既可直接与现场应用的ROV控制系统连接进行软件测试与功能验证,又可以直接用于操作员培训。该平台通过ROV物理模型和ROV数学模型等模拟实物ROV,并在虚拟视景中构建ROV运动场景、在虚拟环境中模拟ROV作业。基于ROV数学模型,其计算ROV运动数据并将运动数据信息传递到ROV三维模型进行动态显示,同时将实时运动信息反馈给ROV控制系统。结合水池实验中ROV速度随推进器转速变化的实验数据,文章对比分析了实验数据与仿真平台计算数据。结果表明,该仿真平台能有效代替实物实验并辅助ROV操作员培训,可大大节省培训与实验成本,提升ROV操作员培训效率。Remotely-operated vehicles(ROVs)play an important role in various fields,such as marine resource development and pipeline/cable laying.However,conducting marine test of ROV is costly and requires pilots with rich operational experience.This paper presents a hardware-in-the-loop simulation platform with three-dimensional visualization capabilities,designed to support ROV pilot training and improve the efficiency of ROV testing.The system facilitates software testing and functional verification by directly connecting to field-operating ROV control systems,and it can also be directly used for ROV pilot training.The platform incorporates physical and mathematical models to simulate physical ROV,creating ROV movement settings in virtual scenes and replicating ROV operations in a virtual environment.ROV movement data is calculated using the mathematical model and transferred to a three-dimensional model for dynamic display.Additionally,the real-time ROV movement information is fed back to the ROV control system.ROV speed variations corresponding to propeller speeds obtained from water tank experiments were compared with calculated data from the simulation platform.The results indicated the platform's efficacy as a viable alternative to physical experiments and as a valuable tool for ROV pilot training,greatly saving training and experimental costs while improving the efficiency of ROV testing and training.

关 键 词：遥控有缆机器人(ROV) 仿真平台 ROV控制系统 硬件在环 ROV模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TM743[自动化与计算机技术—控制科学与工程]