深海作业型ROV水动力试验及运动控制技术研究
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摘要
海洋，孕育了各种神奇的生命，同时也是远没充分开发的各种资源宝库。而深海资源的勘探、开发、利用需要借助高科技的深海装备，如各种先进的潜水器（载人潜水器、遥控式潜水器和水下滑翔机等）及其作业系统，这些先进的海洋技术装备能够满足深度更大、范围更广、环境更复杂的海洋科考和作业使命。因此，开发我国自己的深海潜水器，对于缩短与发达国家的技术差距，并保证我国长期可持续发展具有重要的战略意义和历史意义。
本文选题来源于国家高技术研究发展计划（863）海洋技术领域重点项目“4500米级深海作业系统”（批准号：2008AA092301），其目标是研制国内下潜深度最大的有缆遥控式潜水器。在课题组已有的设计资料基础上，围绕深海潜水器缩尺比模型的水动力试验、潜水器动力学建模及运动稳定性分析、运动控制器设计、推力控制分配策略、轨迹跟踪控制设计、基于海底信息的视景仿真平台的建立，采用试验测量、理论分析和数字仿真平台模拟相结合的方法进行研究和开发。
所研究的4500米级深海作业型ROV具有开架式结构，其在主尺度、外形、水动力参数及作业使命等方面跟潜艇、自主式潜水器等水下运载器相比，存在很大差异，因此对其水动力特性和操纵性能要求有很大不同，在研究背景和内容上，本文的研究具有很强的现实意义和工程价值，具有前瞻性和开拓性，能够为该领域的深入研究奠定很好的应用基础。本文的主要研究内容包括：
1.为了深入研究ROV的运动控制技术，建造了1:1.6的ROV缩尺比模型，通过VPMM和LAHPMM对模型进行了水池拖曳试验，采用最小二乘法对所测数据进行了分析，求出了相关的线性和非线性水动力系数，利用回归得到的阻力系数，计算了ROV在多种运动速度模式下的实艇阻力，阻力数值为潜水器的操纵性研究、仿真系统设计和样机试验提供了可靠的数据支持和保障。
2.根据水动力试验结果，并通过合理的假设与简化，建立了潜水器的空间五自由度非线性数学模型，根据所测得的水动力系数以及ROV的实体尺寸，对其运动稳定性进行了分析，包括水平面、垂直面的静稳定性和动稳定性。
3.为了克服脐带缆对ROV运动过程中的牵扯影响，本文初步探讨了ROV浮子作业模式，并给出了浮子作业模式下脐带缆近ROV端的缆线力分析与计算，通过计算结果可知，ROV受到的脐带缆干扰力的影响已不是很明显，这将为后续的运动控制算法选取以及控制器的设计带来很大便利。
4.为了解决ROV的空间运动问题，特别地针对ROV系统的强耦合性、不确定性、非线性等问题，根据水动力试验建立的ROV非线性数学模型，设计了具有自适应性的多变量运动控制器，并运用数学规划思想研究了ROV的推力控制分配问题，进一步研究了ROV复杂的空间轨迹跟踪控制问题，如无法用简单的点、线描述轨迹，并且对ROV的姿态有所要求，设计了基于自适应Backstepping算法的ROV非线性轨迹跟踪控制器，并通过构造李雅普诺夫方程对该控制器的稳定性进行了证明，该控制器能够实现水平面二维和空间三维的轨迹跟踪，同时能够抑制海流的干扰作用，具有很强的鲁棒性。仿真结果表明，该控制器能够确保ROV运动系统在有限时间内收敛，跟踪性能良好，能够满足潜水器精确轨迹跟踪控制作业的需要。
5.由于潜水器的高研发成本和海洋环境的复杂性，本文运用面向对象的可视化仿真技术，并结合数字海底信息系统，设计并开发了潜水器三维轨迹跟踪控制视景仿真平台。把面向对象技术引入到Petri网建模体系中，为ROV的软件控制系统设计了基于面向对象Petri网(OOPN)的形式化建模语言，并以此为理论指导设计来实现潜水器的动态控制系统软件。从操作员的使用角度和程序员的开发角度，为ROV的轨迹操控平台设计了良好的人机界面，操作员可以通过人机界面输入各类指令，并通过快捷键完成仿真系统的实时跟踪和管理。在Windows操作系统VC++6.0集成环境下，通过OpenGL图形开发库，搭建了该仿真平台，并进行了初步调试，获得了比较理想的模拟效果。
本文的主要创新点概括如下：
1.根据ROV的实际作业需求，设计了潜水器在特殊工况下的水动力试验，并研究了其水动力特性，包括定深定点转艏运动试验、低速域大漂角下的水平面斜拖运动试验，借助多元线性回归方法求得了潜水器在低速域大漂角工况下的高阶水动力系数，并建立了该工况下的水动力模型，为今后研究潜水器在特殊工况下的运动控制打下了基础。
2.针对潜水器系统存在的非线性、强耦合性以及外界干扰的不确定性等问题,设计了基于自适应Backstepping算法的多变量鲁棒运动控制器，并运用Lyapunov稳定性理论,证明了当系统存在参数不确定性和未知有界外干扰时系统仍然具有局部渐近稳定性,以及跟踪误差的局部渐近收敛性。该控制器把潜水器控制系统作为一个整体来进行设计，而不是将系统进行解耦分别设计独立的子控制器，这一独特的设计能够充分利用各个子系统之间的耦合作用来提高整体系统的性能，同时能够保证整体系统的运动稳定性。通过与积分分离的PID控制器的对比仿真研究表明,所设计的多变量非线性运动控制器具有更好的控制品质和鲁棒性能。
3.推进系统是潜水器运动控制系统的重要组成部分，其性能直接影响潜水器作业过程中的可靠性、安全性和稳定性，为了有效地将运动控制器解算出的期望控制量分配到各推进器上，并满足推进系统的物理约束条件，本文将数学规划中的原始对偶内点法运用到潜水器的推力控制分配中，并给出了全局收敛性的证明，该方法克服了求控制分配矩阵伪逆解的问题,并能够减少计算量,同时能够求得满足约束条件的最优解，使推力输出避免了过饱和问题的产生。
论文最后对所作的研究内容进行了总结，并提出了未来的研究工作和方向。
本文的研究成果不但可以应用到正在研发的深海有缆遥控式潜水器的实际作业中，另外，它对于AUV、HOV等水下运载器的研究和设计也都具有重要的理论指导意义和工程参考价值。
Ocean is the origins of human being, which contains fruitful natural resources andenergy. All kinds of underwater vehicles have been playing more important roles in deepsea resources exploration and exploitation. Among which, ROV (Remotely OperatedVehicle) has been applied in many fields, such as oceanographic survey, seafloor geographymapping, pipeline inspection and offshore structure protection. It has become an importantassistant tool to accomplish different underwater missions for the sustainable developmentof newly emerging ocean industry.
This dissertation originates from4500m Deep Sea ROV Operating Systems, supportedby the National High Technology Research and Development Program (863, Grant No.2008AA092301). The research is inspired by abundant difficulties existing in operation,guidance and control of underwater vehicles in that they operate in some uncertain andhazardous environments. Based upon designing data obtained by the staffs, this researchsubject is concerned with nonlinear robust control design of the deep-sea work-class ROV,which includs hydrodynamics test of scaled model, mathematics modeling of a dynamicsystem, motion stability analysis, nonlinear robust motion controller design, thrust controlallocation algorithm and space trajectory tracking control.
The hydrodynamic characteristics of open-framed ROV are distinguished from otherunderwater vehicles such as AUV, HOV and underwater glider, due to lots of differencesexisting in principal dimensions, configuration and general arrangement. The maincontributions of the present work are listed as follows:
1. Accurate hydrodynamics coefficients measurement of ROV are significant for themaneuverability and control algorithm. Accordingly, the scaled model of ROV wasconstructed by1:1.6, and hydrodynamic tests were carried out through VPMM andLAHPMM. Resistances along longitudinal, transversal and normal axises under differentvelocity are figured out based on the real size of ROV, respectively. Linear and nonlinearhydrodynamic coefficients are figured out by using least square method.
2. Nonlinear mathematical models with5DOF (Degree-of-Freedom) of ROV areestablished according to the hydrodynamic test results and motion hypothesis. Motionstabilities on both horizontal and vertical plane are analysed based on the coefficients,which are of great significance for the structure designing and parameter selections for the ROV systems.
3. The external forces acted on ROV are analysed systematically. To weaken theumbilical cable influence on ROV, the design of buoyancy balls attached on the cableterminal is introduced for the coupling effects of umbilical cable and ROV. Through thisdesigning scheme, ROV has a better maneuverability and could be controlled more easilyboth in vertical and horizontal plane.
4. The problem of spacial trajectory tracking control for ROV is addressed despite ofthe constant ocean currents and parametric modelling uncertainty. A nonlinear adaptivecontroller is presented that steers ROV move along a sequence of way-points consisting ofdesired positions in Earth coordinated system. The controller is first derived at thekinematic level, and then integrator self-adaptive method and backstepping algorithm arecombined to extend the kinetics case and to deal with model parameter uncertainty, finally,the stability of the closed-loop system trajectory is proved through using Lyapunovfunctions. Several simulation cases are discussed, and the results illustrates the robustnessof the proposed controller.
5. The object oriented technology and Petri net(OOPN) are novelly adopted to designthe formalized model for the soft architecture of control systems, which enable the systemsto have a better extendability, hierarchical and coherence. The3D trajectory trackingcontrol simulation platform is developed by using virtual visual technology and digitalmodelling method, including chart data processing, seafloor condition generating, vehiclemodeling and trajectory tracking displaying. The platform can also be applied into manypractical fields, such as simulation research of seafloor environment, motion andmaneuvering simulation of underwater vehicle, debugging of control system andmanipulating training. It provides an effective approach for the R&D of underwatervehicle.
The original works in the present dissertation can be summarized as following:
1. Hydrodynamic tests are novelly designed and researched under special operatingconditions, including test of purely yawing motion on site, oblique towing test under lowspeed and large drift angle. The oblique towing tests are conducted through LAHPMM atdesignated low speed and the whole range drift angles. Multiple regression method isadopted to address the testing data and obtain the relating hydrodynamic coefficients. Anddynamics model is derived for the next phase of controller design.
2. Nonlinear robust controller is proposed to force the5DOF overactuated ROV tomove according to the given control commands despite of the presence of environmentaldisturbances, strong coupling and uncertain physical parameters. The coupling design ofcontroller is accomplished by using the so-called block strict feedback form, and the controller synthesis is based on the adaptive strategy and backstepping algorithem. Thelocally asymptotically stability of the control system with system parameter uncertainties isproved by Lyapunov direct method, and the closed loop of tracking errors can be madearbitrarily small. The nonlinear numerical simulation results show the effectiveness androbustness of the proposed multivariable coupling control algorithm. Additionally, thesimulation results of the multivariable robust controller compared to the integrationseparated PID controller are given, which further proves the advantages of the novellydesigned control strategy.
3. Propulsion system is critical not only in control system, but also in maneuveringapplications, since the consequences of loss of maneuverability maybe serious. Accordingly,thruster vector configuration is designed to overcome the singularity problems which cannot produce forces/moments in every direction, such as surge force, yaw moment. Theemployment of primal dual interior point method is presented for the thrust controlallocation technology. The control allocation algorithm is formulated as optimizationproblems, where the objective is to minimize the thrust output subjected to physicalconstraints. Logarithmic barrier functions are adopted to match the bound constraints tosolve this nonlinear programming problems. Furthermore, a global convergence of theproposed algorithm is analysed via the scheme of line search methods. The simulationresults demonstrate that the developed thrust control allocation algorithm can avoid theemergence of over saturation of thrust outputs compared to the pseudo inverse method.
Last but not least, the main research contents of the dissertation are summarized, andthe future research direction is presented. The algorithms proposed in the dissertation cannot only be applied into ROV being developed, but embedded in other underwater vehiclessuch as AUV, HOV and underwater glider.
本文选题来源于国家高技术研究发展计划（863）海洋技术领域重点项目“4500米级深海作业系统”（批准号：2008AA092301），其目标是研制国内下潜深度最大的有缆遥控式潜水器。在课题组已有的设计资料基础上，围绕深海潜水器缩尺比模型的水动力试验、潜水器动力学建模及运动稳定性分析、运动控制器设计、推力控制分配策略、轨迹跟踪控制设计、基于海底信息的视景仿真平台的建立，采用试验测量、理论分析和数字仿真平台模拟相结合的方法进行研究和开发。
所研究的4500米级深海作业型ROV具有开架式结构，其在主尺度、外形、水动力参数及作业使命等方面跟潜艇、自主式潜水器等水下运载器相比，存在很大差异，因此对其水动力特性和操纵性能要求有很大不同，在研究背景和内容上，本文的研究具有很强的现实意义和工程价值，具有前瞻性和开拓性，能够为该领域的深入研究奠定很好的应用基础。本文的主要研究内容包括：
1.为了深入研究ROV的运动控制技术，建造了1:1.6的ROV缩尺比模型，通过VPMM和LAHPMM对模型进行了水池拖曳试验，采用最小二乘法对所测数据进行了分析，求出了相关的线性和非线性水动力系数，利用回归得到的阻力系数，计算了ROV在多种运动速度模式下的实艇阻力，阻力数值为潜水器的操纵性研究、仿真系统设计和样机试验提供了可靠的数据支持和保障。
2.根据水动力试验结果，并通过合理的假设与简化，建立了潜水器的空间五自由度非线性数学模型，根据所测得的水动力系数以及ROV的实体尺寸，对其运动稳定性进行了分析，包括水平面、垂直面的静稳定性和动稳定性。
3.为了克服脐带缆对ROV运动过程中的牵扯影响，本文初步探讨了ROV浮子作业模式，并给出了浮子作业模式下脐带缆近ROV端的缆线力分析与计算，通过计算结果可知，ROV受到的脐带缆干扰力的影响已不是很明显，这将为后续的运动控制算法选取以及控制器的设计带来很大便利。
4.为了解决ROV的空间运动问题，特别地针对ROV系统的强耦合性、不确定性、非线性等问题，根据水动力试验建立的ROV非线性数学模型，设计了具有自适应性的多变量运动控制器，并运用数学规划思想研究了ROV的推力控制分配问题，进一步研究了ROV复杂的空间轨迹跟踪控制问题，如无法用简单的点、线描述轨迹，并且对ROV的姿态有所要求，设计了基于自适应Backstepping算法的ROV非线性轨迹跟踪控制器，并通过构造李雅普诺夫方程对该控制器的稳定性进行了证明，该控制器能够实现水平面二维和空间三维的轨迹跟踪，同时能够抑制海流的干扰作用，具有很强的鲁棒性。仿真结果表明，该控制器能够确保ROV运动系统在有限时间内收敛，跟踪性能良好，能够满足潜水器精确轨迹跟踪控制作业的需要。
5.由于潜水器的高研发成本和海洋环境的复杂性，本文运用面向对象的可视化仿真技术，并结合数字海底信息系统，设计并开发了潜水器三维轨迹跟踪控制视景仿真平台。把面向对象技术引入到Petri网建模体系中，为ROV的软件控制系统设计了基于面向对象Petri网(OOPN)的形式化建模语言，并以此为理论指导设计来实现潜水器的动态控制系统软件。从操作员的使用角度和程序员的开发角度，为ROV的轨迹操控平台设计了良好的人机界面，操作员可以通过人机界面输入各类指令，并通过快捷键完成仿真系统的实时跟踪和管理。在Windows操作系统VC++6.0集成环境下，通过OpenGL图形开发库，搭建了该仿真平台，并进行了初步调试，获得了比较理想的模拟效果。
本文的主要创新点概括如下：
1.根据ROV的实际作业需求，设计了潜水器在特殊工况下的水动力试验，并研究了其水动力特性，包括定深定点转艏运动试验、低速域大漂角下的水平面斜拖运动试验，借助多元线性回归方法求得了潜水器在低速域大漂角工况下的高阶水动力系数，并建立了该工况下的水动力模型，为今后研究潜水器在特殊工况下的运动控制打下了基础。
2.针对潜水器系统存在的非线性、强耦合性以及外界干扰的不确定性等问题,设计了基于自适应Backstepping算法的多变量鲁棒运动控制器，并运用Lyapunov稳定性理论,证明了当系统存在参数不确定性和未知有界外干扰时系统仍然具有局部渐近稳定性,以及跟踪误差的局部渐近收敛性。该控制器把潜水器控制系统作为一个整体来进行设计，而不是将系统进行解耦分别设计独立的子控制器，这一独特的设计能够充分利用各个子系统之间的耦合作用来提高整体系统的性能，同时能够保证整体系统的运动稳定性。通过与积分分离的PID控制器的对比仿真研究表明,所设计的多变量非线性运动控制器具有更好的控制品质和鲁棒性能。
3.推进系统是潜水器运动控制系统的重要组成部分，其性能直接影响潜水器作业过程中的可靠性、安全性和稳定性，为了有效地将运动控制器解算出的期望控制量分配到各推进器上，并满足推进系统的物理约束条件，本文将数学规划中的原始对偶内点法运用到潜水器的推力控制分配中，并给出了全局收敛性的证明，该方法克服了求控制分配矩阵伪逆解的问题,并能够减少计算量,同时能够求得满足约束条件的最优解，使推力输出避免了过饱和问题的产生。
论文最后对所作的研究内容进行了总结，并提出了未来的研究工作和方向。
本文的研究成果不但可以应用到正在研发的深海有缆遥控式潜水器的实际作业中，另外，它对于AUV、HOV等水下运载器的研究和设计也都具有重要的理论指导意义和工程参考价值。
Ocean is the origins of human being, which contains fruitful natural resources andenergy. All kinds of underwater vehicles have been playing more important roles in deepsea resources exploration and exploitation. Among which, ROV (Remotely OperatedVehicle) has been applied in many fields, such as oceanographic survey, seafloor geographymapping, pipeline inspection and offshore structure protection. It has become an importantassistant tool to accomplish different underwater missions for the sustainable developmentof newly emerging ocean industry.
This dissertation originates from4500m Deep Sea ROV Operating Systems, supportedby the National High Technology Research and Development Program (863, Grant No.2008AA092301). The research is inspired by abundant difficulties existing in operation,guidance and control of underwater vehicles in that they operate in some uncertain andhazardous environments. Based upon designing data obtained by the staffs, this researchsubject is concerned with nonlinear robust control design of the deep-sea work-class ROV,which includs hydrodynamics test of scaled model, mathematics modeling of a dynamicsystem, motion stability analysis, nonlinear robust motion controller design, thrust controlallocation algorithm and space trajectory tracking control.
The hydrodynamic characteristics of open-framed ROV are distinguished from otherunderwater vehicles such as AUV, HOV and underwater glider, due to lots of differencesexisting in principal dimensions, configuration and general arrangement. The maincontributions of the present work are listed as follows:
1. Accurate hydrodynamics coefficients measurement of ROV are significant for themaneuverability and control algorithm. Accordingly, the scaled model of ROV wasconstructed by1:1.6, and hydrodynamic tests were carried out through VPMM andLAHPMM. Resistances along longitudinal, transversal and normal axises under differentvelocity are figured out based on the real size of ROV, respectively. Linear and nonlinearhydrodynamic coefficients are figured out by using least square method.
2. Nonlinear mathematical models with5DOF (Degree-of-Freedom) of ROV areestablished according to the hydrodynamic test results and motion hypothesis. Motionstabilities on both horizontal and vertical plane are analysed based on the coefficients,which are of great significance for the structure designing and parameter selections for the ROV systems.
3. The external forces acted on ROV are analysed systematically. To weaken theumbilical cable influence on ROV, the design of buoyancy balls attached on the cableterminal is introduced for the coupling effects of umbilical cable and ROV. Through thisdesigning scheme, ROV has a better maneuverability and could be controlled more easilyboth in vertical and horizontal plane.
4. The problem of spacial trajectory tracking control for ROV is addressed despite ofthe constant ocean currents and parametric modelling uncertainty. A nonlinear adaptivecontroller is presented that steers ROV move along a sequence of way-points consisting ofdesired positions in Earth coordinated system. The controller is first derived at thekinematic level, and then integrator self-adaptive method and backstepping algorithm arecombined to extend the kinetics case and to deal with model parameter uncertainty, finally,the stability of the closed-loop system trajectory is proved through using Lyapunovfunctions. Several simulation cases are discussed, and the results illustrates the robustnessof the proposed controller.
5. The object oriented technology and Petri net(OOPN) are novelly adopted to designthe formalized model for the soft architecture of control systems, which enable the systemsto have a better extendability, hierarchical and coherence. The3D trajectory trackingcontrol simulation platform is developed by using virtual visual technology and digitalmodelling method, including chart data processing, seafloor condition generating, vehiclemodeling and trajectory tracking displaying. The platform can also be applied into manypractical fields, such as simulation research of seafloor environment, motion andmaneuvering simulation of underwater vehicle, debugging of control system andmanipulating training. It provides an effective approach for the R&D of underwatervehicle.
The original works in the present dissertation can be summarized as following:
1. Hydrodynamic tests are novelly designed and researched under special operatingconditions, including test of purely yawing motion on site, oblique towing test under lowspeed and large drift angle. The oblique towing tests are conducted through LAHPMM atdesignated low speed and the whole range drift angles. Multiple regression method isadopted to address the testing data and obtain the relating hydrodynamic coefficients. Anddynamics model is derived for the next phase of controller design.
2. Nonlinear robust controller is proposed to force the5DOF overactuated ROV tomove according to the given control commands despite of the presence of environmentaldisturbances, strong coupling and uncertain physical parameters. The coupling design ofcontroller is accomplished by using the so-called block strict feedback form, and the controller synthesis is based on the adaptive strategy and backstepping algorithem. Thelocally asymptotically stability of the control system with system parameter uncertainties isproved by Lyapunov direct method, and the closed loop of tracking errors can be madearbitrarily small. The nonlinear numerical simulation results show the effectiveness androbustness of the proposed multivariable coupling control algorithm. Additionally, thesimulation results of the multivariable robust controller compared to the integrationseparated PID controller are given, which further proves the advantages of the novellydesigned control strategy.
3. Propulsion system is critical not only in control system, but also in maneuveringapplications, since the consequences of loss of maneuverability maybe serious. Accordingly,thruster vector configuration is designed to overcome the singularity problems which cannot produce forces/moments in every direction, such as surge force, yaw moment. Theemployment of primal dual interior point method is presented for the thrust controlallocation technology. The control allocation algorithm is formulated as optimizationproblems, where the objective is to minimize the thrust output subjected to physicalconstraints. Logarithmic barrier functions are adopted to match the bound constraints tosolve this nonlinear programming problems. Furthermore, a global convergence of theproposed algorithm is analysed via the scheme of line search methods. The simulationresults demonstrate that the developed thrust control allocation algorithm can avoid theemergence of over saturation of thrust outputs compared to the pseudo inverse method.
Last but not least, the main research contents of the dissertation are summarized, andthe future research direction is presented. The algorithms proposed in the dissertation cannot only be applied into ROV being developed, but embedded in other underwater vehiclessuch as AUV, HOV and underwater glider.
引文
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