复杂环境干扰下的ROV主动式升沉补偿系统动力学分析及控制

项目名称： 复杂环境干扰下的ROV主动式升沉补偿系统动力学分析及控制

项目编号： No.51309133

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 水利工程

项目作者： 李家旺

作者单位： 宁波大学

项目金额： 24万元

中文摘要： 水下遥控操纵机器人(ROV)在收放或水下作业过程中，复杂的环境干扰会对其安全性和作业精度产生不利影响，其中，尤以升沉方向影响最大。现有的ROV升沉补偿系统设计及其控制研究中，由于忽略了柔性水下系缆的耦合影响，实际的补偿效果并不理想。本项目拟针对完整的ROV系统，研究和设计一种主动式升沉补偿控制策略，以提高其在复杂环境干扰下的环境适应能力和任务执行能力。 完整的ROV升沉补偿系统是一类典型的刚-柔耦合系统，对其进行理论建模分析和运动控制设计涉及到多体动力学、非线性控制、信号处理等多个领域的知识。本项目拟在已有的相关工作基础上，采用自适应干扰消除方法和扩展Tikhonov调节算法解决随机环境干扰信号的估计和预测问题，利用先进的非线性控制理论建立ROV升沉补偿控制策略，通过建立完整的ROV升沉补偿系统的动力学模型，结合系缆部分的水动力分析结果，研究提高ROV系统升沉补偿能力的方法和措施。

中文关键词： 水下遥控操纵机器人；主动式升沉补偿；系缆动力学；环境干扰；信号预测

英文摘要： During the processes of retrieval, deployment or underwater operations of a remote operated vehicle (ROV), its security and operational precision can be adversely affected by complicated environmental disturbances, especially by that in heave directions. According to the existed researches on the design and control of ROV heave compensation systems, the actual performance of these systems are not quite well since the coupling dynamics of flexible underwater cables were neglected. In order to improve environmental adaptability and operability of ROV systems under complicated environmental disturbances, this project focus on the design of an active heave compensation control strategy for an entire ROV system including the dynamics of flexible underwater cables. An entire ROV heave compensation system is a kind of typical rigid-flexible coupling system. Theoretic modeling analysis and control design for this system involve the knowledge of some fields such as multi-body dynamics, nonlinear control and signal processing. Motivated by the former relevant researches, this project addresses the problem of estimation and prediction for random environmental disturbances by using an adaptive disturbance elimination approach and generalized Tikhonov regularization algorithm, designs a control strategy for the ROV heave com

英文关键词： Remote operated vehicle；active heave compensation；cable dynamics；environmental disturbances；signal prediction