AUV水下对接装置控制系统设计
|
摘要
自主式水下机器人(Autonomous Underwater Vehicle,简称AUV)在航行使命结束后需要回收至甲板或陆地进行补给和维护。为避免重复布放回收所带来的不便,根据锥形导向式回收原理,针对水下对接装置及其控制系统进行了设计。水下对接装置控制系统由水面控制终端,水下控制系统和水下外部设备等部分组成,使用超短基线引导AUV进入指定区域,在对接过程中依靠行程开关和无线电反馈的信息判断AUV的相对位置及状态,并通过驱动相应的液压机构对AUV姿态进行校正和固定,进而完成对接过程。水下对接装置在千岛湖进行了试验,在吊装水下7 m的情况下实现了AUV的水下对接,并利用湿插拔电连接器完成了对AUV的有线充电和数据上传。试验验证了对接方案的可行性以及控制系统的稳定性,为将来AUV能够进行长时间、不间断航行提供了可能。
Autonomous underwater vehicle( AUV) needs to be recovered for battery recharging and data downloads when the mission is completed. In order to reduce project cost during the repeated deployment and recovery process,a funnel-type AUV docking device with control system is studied and designed. The control system is composed of land-based control terminal,underwater control system and external equipments. The docking device can estimate AUV's position and state by feedback signal from limit switches and wireless,and then drives the hydraulic mechanism to complete the docking process automatically. A lake trial is carried out in Hangzhou. At 7 meters depth of the water,the docking device accomplishes the task such as ultra-short baseline navigation,wireless command control,recharging the lead-acid batteries of the AUV,and communicating with AUV by RS485 protocol. The lake trial proves the reasonability and validity of the control system and lays the groundwork for the long-term,uninterrupted and long-distance navigation of the AUV in the future.
Autonomous underwater vehicle( AUV) needs to be recovered for battery recharging and data downloads when the mission is completed. In order to reduce project cost during the repeated deployment and recovery process,a funnel-type AUV docking device with control system is studied and designed. The control system is composed of land-based control terminal,underwater control system and external equipments. The docking device can estimate AUV's position and state by feedback signal from limit switches and wireless,and then drives the hydraulic mechanism to complete the docking process automatically. A lake trial is carried out in Hangzhou. At 7 meters depth of the water,the docking device accomplishes the task such as ultra-short baseline navigation,wireless command control,recharging the lead-acid batteries of the AUV,and communicating with AUV by RS485 protocol. The lake trial proves the reasonability and validity of the control system and lays the groundwork for the long-term,uninterrupted and long-distance navigation of the AUV in the future.
引文
[1]蒋新松,封锡盛,王棣棠.水下机器人[M].沈阳:辽宁科学技术出版社,2000.(JIANG Xinsong,FENG Xisheng,WANG Ditang. Underwater vehicle[M]. Shenyang:Liaoning Science and Technology Press,2000.(in Chinese))
[2]程烨,羊云石,林婕,等.一种AUV水下接驳站的研究[J].舰船科学技术,2015,37(11):91-94.(CHENG Ye,YANG Yunshi,LIN Jie,et al. A survey on underwater AUV docking station[J]. Ship Science and Technology,2015,37(11):91-94.(in Chinese))
[3] SINGH H,BELLINGHAM JG,HOVER F,et al. Docking for an autonomous ocean sampling network[J]. IEEE Journal of Oceanic Engineering,2001,26(4):498-513.
[4] KAWASAKI T,NOGUCHI T,FUKASAWA T,et al. Development of AUV “Marine Bird”with underwater docking and recharging system[C]//Proceeding of the 3rd International Workshop on Scientific Use Submarine Cables and Related Technologies IEEE OCEANS. 2003:166-170.
[5] ALLEN B,AUSTIN T,FORRESTER N,et al. Autonomous docking demonstrations with enhanced REMUS technology[J].IEEE OCEANS,2006:1-6.
[6] HOBSON BW,MCEWEN RS,ERICKSON J,et al. The development and ocean testing of an AUV docking station for a 21 AUV[J]. IEEE OCEANS,2007:1-6.
[7] MCEWEN RS,HOBSON BW,MCBRIDE L,et al. Docking control system for a 54 cm diameter(21-in)AUV[J]. IEEE Journal of Oceanic Engineering,2008,33(4):550-652.
[8]陈强,孙嵘.潜艇布放回收UUV方式[J].舰船科学技术,2011,33(7):145-147.(CHEN Qiang,SUN Rong. Analysis of launch and recovery UUV model for submarine[J]. Ship Science and Technology,2011,33(7):145-147.(in Chinese))
[9]吴泽伟,郭小明,殷卫兵,等.水下特种运载器水下回收技术研究[J].舰船科学技术,2016,38(2):140-143.(WU Zewei,GUO Xiaoming,YIN Weibing,et al. Research on underwater recovery technology for underwater special vehicles[J]. Ship Science and Technology,2016,38(2):140-143.(in Chinese))
[10] SARDA E I,DHANAK M R. A USV-based automated launch and recovery system for AUVs[J]. IEEE Journal of Oceanic Engineering,2017,42(1):37-55.
[11] SUJIT P B. HEALEY A J,SOUSA J B. AUV docking on a moving submarine using a K-R navgation function[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. 2011:3154-3159.
[12] CIRCLE BN. Underwater mobile docking of autonomous underwater vehicles[C]//Oceans 2012/MTS IEEE Hampton Roads.2012.
[13]于开洋,徐凤安,王棣棠,等.“探索者”号无缆水下机器人回收系统的设计与应用[J].机器人,1996,18(3):179-184.(YU Kaiyang,XU Fengan,WANG Ditang,et al. Design and application of the underwater recovering for the AUV“Explporer”[J].Robot,1996,18(3):179-184.(in Chinese))
[14]张竺英,王棣棠,刘大路.自治式水下机器人回收系统的研究与设计[J].机器人,1995,17(6):349-351.(ZHANG Zhuying,WANG Ditang,LIU Dalu. The researching and designing of the recovering system for autonomous underwater vehicles[J].Robot,1995,17(6):349-351.(in Chinese))
[15]孟令帅,林扬,谷海涛,等.回转形AUV水下通用对接装置的设计与实现[J].工程设计学报,2017,24(4):387-394.(MENG Lingshuai,LIN Yang,GU Haitao,et al. Design and implementation of a general docking for revolving AUV[J].Chinese Journal of Engineering Design,2017,24(4):387-394.(in Chinese))
[16]候恕萍.水下运载器主动对接控制技术研究[D].哈尔滨:哈尔滨工程大学,2005.(HOU Ruping. Research on control technology of initistive mating device in underwater vehicle[D]. Harbin:Harbin Engineering University,2005.(in Chinese))
[17]常艳艳,孟庆鑫,王贺春.深潜救生艇及其对接装置的现状及发展趋势[J].船舶工程,2010,32(1):5-7.(CHANG Yanyan,MENG Qingxin,WANG Hechun. Present situation and development trend of deep submergence rescue vehicle and its interfacing apparatus[J]. Ship Engineering,2010,32(1):5-7.(in Chinses))
[18]张波.自治式水下机器人水下对接装置研究[D].哈尔滨:哈尔滨工程大学,2012.(ZHANG Bo. Research on AUV underwater docking device[D]. Harbin:Harbin Engineering University,2012.(in Chinese))
[19]孙叶义,武皓微,李晔,等.AUV水下回收对接技术综述[J].哈尔滨工程大学学报,http://kns.cnki.net/kcms/detail/23.1390.U. 20180716. 0833. 014. html.(SUN Yeyi,WU Haowei,LI Ye,et al. Summary of AUV underwater recycle docking technology[J]. Journal of Harbin Engineering University,http://kns. cnki. net/kcms/detail/23. 1390. U. 20180716. 0833. 014.html.(in Chinese))
[20]宋吉广.动基座条件下的UUV对接控制方法研究[D].哈尔滨:哈尔滨工程大学,2017.(SONG Jiguang. Research on docking control methed of uuv under the cindition of moving base[D]. Harbin:Harbin Engineering University,2017.(in Chinese))
[21] LI Dejun,CHEN Yanhu,SHI Jianguang,et al. Autonomous underwater vehicle docking system for cabled ocean observatory network[J]. Ocean Engineering,2015,109:127-134.
[22]张梦辉.基于机器视觉的自主式水下航行器末端导引系统关键技术研究[D].杭州:浙江大学,2018.(ZHANG Menghui.Research on key technologies of machine vision-based AUV terminal guidance system[D]. Hangzhou:Zhejiang University,2018.(in Chinese))
[23]陈燕虎.基于树型拓扑的缆系海底观测网供电接驳关键技术研究[D].杭州:浙江大学,2012.(CHEN Yanhu. Research on the key technologies of power junction for cabled ocean observatories[D]. Hangzhou:Zhejiang University,2012.(in Chinese))
[24]赵朝闻,张淞,李辉.基于超短基线的AUV自主对接流程及算法[J].鱼雷技术,2016,24(3):166-171.(ZHAO Chaowen,ZHANG Song,LI Hui. Autonomous abutting joint flow and control algorithm for AUV based on ultra-short baeline[J]. Torpedo Technology,2016,24(3):166-171.(in Chinese))
[25]羊云石,顾海东,程烨.AUV水下对接控制方法[J].舰船科学技术,2015,37(12):144-147.(YANG Shiyun,GU Haidong,CHENG Ye. Docking control methed of autonomous underwater vehicles[J]. Ship Science and Technology,2015,37(12):144-147.(in Chinese))
[2]程烨,羊云石,林婕,等.一种AUV水下接驳站的研究[J].舰船科学技术,2015,37(11):91-94.(CHENG Ye,YANG Yunshi,LIN Jie,et al. A survey on underwater AUV docking station[J]. Ship Science and Technology,2015,37(11):91-94.(in Chinese))
[3] SINGH H,BELLINGHAM JG,HOVER F,et al. Docking for an autonomous ocean sampling network[J]. IEEE Journal of Oceanic Engineering,2001,26(4):498-513.
[4] KAWASAKI T,NOGUCHI T,FUKASAWA T,et al. Development of AUV “Marine Bird”with underwater docking and recharging system[C]//Proceeding of the 3rd International Workshop on Scientific Use Submarine Cables and Related Technologies IEEE OCEANS. 2003:166-170.
[5] ALLEN B,AUSTIN T,FORRESTER N,et al. Autonomous docking demonstrations with enhanced REMUS technology[J].IEEE OCEANS,2006:1-6.
[6] HOBSON BW,MCEWEN RS,ERICKSON J,et al. The development and ocean testing of an AUV docking station for a 21 AUV[J]. IEEE OCEANS,2007:1-6.
[7] MCEWEN RS,HOBSON BW,MCBRIDE L,et al. Docking control system for a 54 cm diameter(21-in)AUV[J]. IEEE Journal of Oceanic Engineering,2008,33(4):550-652.
[8]陈强,孙嵘.潜艇布放回收UUV方式[J].舰船科学技术,2011,33(7):145-147.(CHEN Qiang,SUN Rong. Analysis of launch and recovery UUV model for submarine[J]. Ship Science and Technology,2011,33(7):145-147.(in Chinese))
[9]吴泽伟,郭小明,殷卫兵,等.水下特种运载器水下回收技术研究[J].舰船科学技术,2016,38(2):140-143.(WU Zewei,GUO Xiaoming,YIN Weibing,et al. Research on underwater recovery technology for underwater special vehicles[J]. Ship Science and Technology,2016,38(2):140-143.(in Chinese))
[10] SARDA E I,DHANAK M R. A USV-based automated launch and recovery system for AUVs[J]. IEEE Journal of Oceanic Engineering,2017,42(1):37-55.
[11] SUJIT P B. HEALEY A J,SOUSA J B. AUV docking on a moving submarine using a K-R navgation function[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. 2011:3154-3159.
[12] CIRCLE BN. Underwater mobile docking of autonomous underwater vehicles[C]//Oceans 2012/MTS IEEE Hampton Roads.2012.
[13]于开洋,徐凤安,王棣棠,等.“探索者”号无缆水下机器人回收系统的设计与应用[J].机器人,1996,18(3):179-184.(YU Kaiyang,XU Fengan,WANG Ditang,et al. Design and application of the underwater recovering for the AUV“Explporer”[J].Robot,1996,18(3):179-184.(in Chinese))
[14]张竺英,王棣棠,刘大路.自治式水下机器人回收系统的研究与设计[J].机器人,1995,17(6):349-351.(ZHANG Zhuying,WANG Ditang,LIU Dalu. The researching and designing of the recovering system for autonomous underwater vehicles[J].Robot,1995,17(6):349-351.(in Chinese))
[15]孟令帅,林扬,谷海涛,等.回转形AUV水下通用对接装置的设计与实现[J].工程设计学报,2017,24(4):387-394.(MENG Lingshuai,LIN Yang,GU Haitao,et al. Design and implementation of a general docking for revolving AUV[J].Chinese Journal of Engineering Design,2017,24(4):387-394.(in Chinese))
[16]候恕萍.水下运载器主动对接控制技术研究[D].哈尔滨:哈尔滨工程大学,2005.(HOU Ruping. Research on control technology of initistive mating device in underwater vehicle[D]. Harbin:Harbin Engineering University,2005.(in Chinese))
[17]常艳艳,孟庆鑫,王贺春.深潜救生艇及其对接装置的现状及发展趋势[J].船舶工程,2010,32(1):5-7.(CHANG Yanyan,MENG Qingxin,WANG Hechun. Present situation and development trend of deep submergence rescue vehicle and its interfacing apparatus[J]. Ship Engineering,2010,32(1):5-7.(in Chinses))
[18]张波.自治式水下机器人水下对接装置研究[D].哈尔滨:哈尔滨工程大学,2012.(ZHANG Bo. Research on AUV underwater docking device[D]. Harbin:Harbin Engineering University,2012.(in Chinese))
[19]孙叶义,武皓微,李晔,等.AUV水下回收对接技术综述[J].哈尔滨工程大学学报,http://kns.cnki.net/kcms/detail/23.1390.U. 20180716. 0833. 014. html.(SUN Yeyi,WU Haowei,LI Ye,et al. Summary of AUV underwater recycle docking technology[J]. Journal of Harbin Engineering University,http://kns. cnki. net/kcms/detail/23. 1390. U. 20180716. 0833. 014.html.(in Chinese))
[20]宋吉广.动基座条件下的UUV对接控制方法研究[D].哈尔滨:哈尔滨工程大学,2017.(SONG Jiguang. Research on docking control methed of uuv under the cindition of moving base[D]. Harbin:Harbin Engineering University,2017.(in Chinese))
[21] LI Dejun,CHEN Yanhu,SHI Jianguang,et al. Autonomous underwater vehicle docking system for cabled ocean observatory network[J]. Ocean Engineering,2015,109:127-134.
[22]张梦辉.基于机器视觉的自主式水下航行器末端导引系统关键技术研究[D].杭州:浙江大学,2018.(ZHANG Menghui.Research on key technologies of machine vision-based AUV terminal guidance system[D]. Hangzhou:Zhejiang University,2018.(in Chinese))
[23]陈燕虎.基于树型拓扑的缆系海底观测网供电接驳关键技术研究[D].杭州:浙江大学,2012.(CHEN Yanhu. Research on the key technologies of power junction for cabled ocean observatories[D]. Hangzhou:Zhejiang University,2012.(in Chinese))
[24]赵朝闻,张淞,李辉.基于超短基线的AUV自主对接流程及算法[J].鱼雷技术,2016,24(3):166-171.(ZHAO Chaowen,ZHANG Song,LI Hui. Autonomous abutting joint flow and control algorithm for AUV based on ultra-short baeline[J]. Torpedo Technology,2016,24(3):166-171.(in Chinese))
[25]羊云石,顾海东,程烨.AUV水下对接控制方法[J].舰船科学技术,2015,37(12):144-147.(YANG Shiyun,GU Haidong,CHENG Ye. Docking control methed of autonomous underwater vehicles[J]. Ship Science and Technology,2015,37(12):144-147.(in Chinese))