The invention relates to the technical field of underwater robots, in particular to an ROV hovering positioning control method. The ROV can obtain information such as depth or height, course, north position, east position and the like in real time, and has the motion capabilities of advancing/retreating, left moving/right moving, left turning/right turning, floating up/diving and the like. When the ROV enters a hovering positioning function, a closed-loop algorithm is carried out on depth or height, course, north position, east position and the like to obtain four controlled variables, coordinate transformation is carried out on the last two obtained controlled variables, the two obtained controlled variables are converted into two controlled variables of forward/backward movement and left/right movement of the ROV, and then the two controlled variables are input into a thrust distribution matrix for thrust distribution. Therefore, the control quantity of each propeller is obtained. The method is simple and practical, the ROV has the good anti-flow capacity, and the requirement for hovering positioning during underwater operation of the ROV is met.

    本发明涉及水下机器人技术领域,具体来说是一种ROV悬停定位控制方法。本发明依托的ROV可以实时获得深度或高度、航向、北向位置和东向位置等信息,并具备前进/后退、左移/右移、左转/右转、上浮/下潜等运动能力。ROV进入悬停定位功能时,通过对深度或高度、航向、北向位置和东向位置等进行闭环算法获取4个控制量,并将获取的后2个控制量进行坐标变换,转换为ROV的前进/后退与左移/右移2个控制量,然后输入推力分配矩阵进行推力分配,从而获得各个推进器的控制量。本发明简单实用,使ROV具有较好的抗流能力,满足ROV海底作业时对悬停定位的需求。


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    Title :

    ROV hovering positioning control method


    Additional title:

    一种ROV悬停定位控制方法


    Contributors:
    CUI SHENGGUO (author) / ZHANG QIFENG (author) / JI MENGFAN (author) / KONG FANDONG (author) / ZHANG BIN (author) / QI XIN (author)

    Publication date :

    2022-05-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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