模拟深水环境下双机械手协调作业关键技术研究
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摘要
应用于作业级水下机器人之上的深水双机械手作业系统，在海洋油气开发中有着重要的作用。为了提高水下机器人的自动化程度和油气开发中的效率。本文采用了理论分析，计算机仿真实验研究的方法，对深水油气开发双机械手相关的作业任务分析、水动力学、协调作业规划、协调作用控制器及综合仿真实验进行了研究。
首先，阐述了课题研究的背景，对水下机械手和双机械手系统的国内外现状进行了描述，通过调研并分步骤分析了水下机械手在墨西哥湾漏油事件处置中用途，分析了水下双机械手作业面临的难点。厘清了本文的研究对象和内容。
其次，以华中科技大学设计的“华海6H”为对象，对其机器人运动学、约束条件下作业空间的快速计算方法，以及水动力学等问题进行了研究。首先采用相关的理论建立了华海6H水下机械手运动学模型。在此基础上设计了一种混合奇异曲面法和数值法的快速计算作业空间方法。针对水流环境，建立了机械手系统在收到水流环境干扰的情况下，其综合的动力学模型。并且运用数值计算的方法仿真分析了浮力和恒定水流对机械手动力学的影响，提出在“华海6H”的动力学问题中，需要充分考虑浮力因素。
之后，以两台“华海6H”水下机械手为对象，研究了针对其在搬运同一物体作业时（闭链协调问题）的运动学和动力学问题，并建立了其闭链系统的运动学动力学模型。提出了一种优化的距离函数避障方法，并用于其作业的协调轨迹规划。该方法为一种选取双机械手杆件和关节上若干点为特征点，建立特征点间距离函数。并以之为最优特征函数，通过梯度投影法获得双机械手协调作业的各自轨迹规划。
再后，针对双深水机械手协调搬运问题，对传统滑模控制器进行了一定的改进，对主机械手、从机械手设计了增益自适应模糊调节的滑模控制器，控制器利用了前面建立的系统水动力学模型知识但不对其精确性有要求。
最后，针对目前实际情况，建立综合的双水下机械手协调搬运仿真模型，在半实物仿真平台上通过全数字仿真实验的形式分析全文研究内容的有效性。
The deep-water dual manipulator equipped with the serial of working underwatervehicle plays an important role in the offshore oil and gas mine. In order to improveautomation level for the ocean material mine with underwater vehicle and the efficiency ofthe emergency response work, a serial theories and methods are illustrated in the paperinclude theoretical analysis, computer simulation research methods, development ofdeep-sea oil and gas dual manipulator related work tasks analysis, hydrodynamics, andcoordination of operational planning, coordinating role of the controller and integratedsimulation study.
First of all, the research background for underwater manipulator anddual-manipulators coordinate-operation are described in this part, especially the relatedresearch in china and abroad are presented. Through the reviewed research and analysis ofunderwater manipulator application in the Gulf of Mexico oil spill disposal, the difficultiesfor the dual-manipulators coordinated work in the deep-sea are illustrated. And ten, theresearch object and content of this paper are clarified from the analyses.
Secondly, the Huahai-6H manipulator is taken as a research experiment which isdesigned by Huazhong University of Science and Technology. The kinematics, workspace, and hydrodynamic for this underwater manipulator are studied in this part. Throughestablished the dual-manipulators model, the rapid calculation of the singular surface of ahybrid method and numerical method work space are designed. For the workingcircumstance, a hydrodynamic model of the manipulator system is established. Buoyancyand a constant flow of manipulator dynamics simulation analysis using numerical methodsare proposed. In the deep-sea manipulator dynamics, the buoyancy factor should be takenin full account of the hydrodynamic modeling.
And then, two Huahai-6H underwater manipulators are taken into a research object.The study of the kinematics and dynamics of the problem for the job in handling the samerigid body (closed chain coordination problems) are presented. Meanwhile, a closed chainsystem kinematics power learning model is established. An optimized distance functionobstacle avoidance, and for its operation coordinated trajectory planning are illustrated. The dual manipulator rod parts and joints on a number of points for a selected featurepoints, the feature point distance functions are established. And the optimal characteristicfunctions are obtained by the gradient projection method the respective trajectory planningdual-manipulators coordination working.
Finally, the force and position controller is designed for the mechanical hand tightcoordination problems of this dual-manipulator. The current actual situation integratedunderwater manipulator coordinate handling simulation model is designed. Meanwhile, asliding mode fuzzy controller and ring inclusive position controller for the coremanipulator are presented. And the controllers are designed for previous hydrodynamicmodel knowledge but not for its accuracy requirements.
首先，阐述了课题研究的背景，对水下机械手和双机械手系统的国内外现状进行了描述，通过调研并分步骤分析了水下机械手在墨西哥湾漏油事件处置中用途，分析了水下双机械手作业面临的难点。厘清了本文的研究对象和内容。
其次，以华中科技大学设计的“华海6H”为对象，对其机器人运动学、约束条件下作业空间的快速计算方法，以及水动力学等问题进行了研究。首先采用相关的理论建立了华海6H水下机械手运动学模型。在此基础上设计了一种混合奇异曲面法和数值法的快速计算作业空间方法。针对水流环境，建立了机械手系统在收到水流环境干扰的情况下，其综合的动力学模型。并且运用数值计算的方法仿真分析了浮力和恒定水流对机械手动力学的影响，提出在“华海6H”的动力学问题中，需要充分考虑浮力因素。
之后，以两台“华海6H”水下机械手为对象，研究了针对其在搬运同一物体作业时（闭链协调问题）的运动学和动力学问题，并建立了其闭链系统的运动学动力学模型。提出了一种优化的距离函数避障方法，并用于其作业的协调轨迹规划。该方法为一种选取双机械手杆件和关节上若干点为特征点，建立特征点间距离函数。并以之为最优特征函数，通过梯度投影法获得双机械手协调作业的各自轨迹规划。
再后，针对双深水机械手协调搬运问题，对传统滑模控制器进行了一定的改进，对主机械手、从机械手设计了增益自适应模糊调节的滑模控制器，控制器利用了前面建立的系统水动力学模型知识但不对其精确性有要求。
最后，针对目前实际情况，建立综合的双水下机械手协调搬运仿真模型，在半实物仿真平台上通过全数字仿真实验的形式分析全文研究内容的有效性。
The deep-water dual manipulator equipped with the serial of working underwatervehicle plays an important role in the offshore oil and gas mine. In order to improveautomation level for the ocean material mine with underwater vehicle and the efficiency ofthe emergency response work, a serial theories and methods are illustrated in the paperinclude theoretical analysis, computer simulation research methods, development ofdeep-sea oil and gas dual manipulator related work tasks analysis, hydrodynamics, andcoordination of operational planning, coordinating role of the controller and integratedsimulation study.
First of all, the research background for underwater manipulator anddual-manipulators coordinate-operation are described in this part, especially the relatedresearch in china and abroad are presented. Through the reviewed research and analysis ofunderwater manipulator application in the Gulf of Mexico oil spill disposal, the difficultiesfor the dual-manipulators coordinated work in the deep-sea are illustrated. And ten, theresearch object and content of this paper are clarified from the analyses.
Secondly, the Huahai-6H manipulator is taken as a research experiment which isdesigned by Huazhong University of Science and Technology. The kinematics, workspace, and hydrodynamic for this underwater manipulator are studied in this part. Throughestablished the dual-manipulators model, the rapid calculation of the singular surface of ahybrid method and numerical method work space are designed. For the workingcircumstance, a hydrodynamic model of the manipulator system is established. Buoyancyand a constant flow of manipulator dynamics simulation analysis using numerical methodsare proposed. In the deep-sea manipulator dynamics, the buoyancy factor should be takenin full account of the hydrodynamic modeling.
And then, two Huahai-6H underwater manipulators are taken into a research object.The study of the kinematics and dynamics of the problem for the job in handling the samerigid body (closed chain coordination problems) are presented. Meanwhile, a closed chainsystem kinematics power learning model is established. An optimized distance functionobstacle avoidance, and for its operation coordinated trajectory planning are illustrated. The dual manipulator rod parts and joints on a number of points for a selected featurepoints, the feature point distance functions are established. And the optimal characteristicfunctions are obtained by the gradient projection method the respective trajectory planningdual-manipulators coordination working.
Finally, the force and position controller is designed for the mechanical hand tightcoordination problems of this dual-manipulator. The current actual situation integratedunderwater manipulator coordinate handling simulation model is designed. Meanwhile, asliding mode fuzzy controller and ring inclusive position controller for the coremanipulator are presented. And the controllers are designed for previous hydrodynamicmodel knowledge but not for its accuracy requirements.
引文
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