Problem Identification for Underwater Remotely Operated Vehicle (ROV): A Case Study
Problem Identification for Underwater Remotely Operated Vehicle (ROV): A Case Study
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DOI：
10.1016/j.proeng.2012.07.211
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
F. A. Azis;M. Aras;M. Rashid;M. N. Othman;S. Abdullah
中科院分区：
文献类型：
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作者：
F. A. Azis;M. Aras;M. Rashid;M. N. Othman;S. Abdullah
本文研究和描述了无人水下遥控潜水器（Unmanned Underwater Remotely Operated Vehicle，简称UUV）的问题辨识。以下是对几篇文献综述和研究案例进行研究后发现的问题识别。在本文中，主要的问题陈述将详细讨论，如控制系统，欠驱动条件，位姿恢复或位置保持，耦合问题和通信技术。水下机器人是一种由脐带缆系留的无人水下航行器（UUV），由航行器操作员进行远程操作。由于存在未知的非线性流体动力学效应、参数的不确定性以及缺乏精确的动力学模型和参数，使得水轮机的控制系统较为复杂。传统的控制器不能动态补偿未建模的车辆水动力或未知的干扰。欠驱动状态被定义为控制输入小于自由度的状态，因此当一个或多个推力器发生故障时，潜器如何在执行使命后保持一定的点或深度也是一个值得关注的问题。姿态恢复或姿态保持将是机器人设计中的问题之一。这种位置保持方法用于在存在环境干扰（例如风、波浪、水流和意外的环境干扰）的情况下，当潜器试图在期望的深度处保持静止时，相对于另一移动潜器保持位置。系绳和电缆与车体之间的耦合问题将是稳定车体本身的一个问题，因为它使车辆载荷加倍。水下航行器的尺寸、重量和工作深度，以及水下航行器的电机、子系统和有效载荷，所有这些联合收割机都决定了水下航行器的电缆设计。在水下，无线通信系统无法很好地工作，即使在短距离内传输视频流也是另一个需要解决的问题。这一说法被水下技术研究组学生的项目所证实.实验中设置了三种类型的传感器，使用无线通信系统进行更高频率的视频流，数据传输和GPS。
This paper investigates and describes problem identification of Unmanned Underwater Remotely Operated Vehicle (ROV). The following is the problem identification that found after research done on several literature reviews and study cases. In this paper, the major problem statements will be discussed in details such as control system, underactuated condition, pose recovery or station keeping, coupling issues and communication technique. ROV is one of the Unmanned Underwater Vehicle (UUV) tethered with umbilical cable and remotely operated by a vehicle operator's. Control system of ROV is a bit complex because of the unknown non-linear hydrodynamics effects, parameters uncertainties and the lack of a precise model of the ROV dynamics and parameters. Conventional controller cannot dynamically compensate for unmodeled vehicle hydrodynamic forces or unknown disturbances. Underactuated condition is defined as one having less control inputs than degree of freedom, so how the ROV want to maintain a certain point or depth following mission when one or more of thrusters malfunction also an issue to be highlighted. Pose recovery or station keeping will be one of the issues in ROV design. This station keeping approach is used to maintain a position in relation to another moving ROV as the ROV tries to remain stationary at the desired depth with present the environmental disturbances such as wind, waves, current and unexpected environmental disturbances. Coupling issue between the tether and cable with ROV body will be one problem in stabilizing the ROV itself as it double the vehicle load. The underwater vehicle size, weight and operating depth, as well as the underwater vehicle motors, subsystems, and payload, all combine to determine the ROV's cable design. In underwater, the inability of wireless communication system fails to work very well to transmit the video stream even in short distance is another issue to be covered. This statement proved by Underwater Technology Research Group student's project. The experiment sets upthree types of sensor using wireless communication system for higher frequency such as video stream, data transfer and GPS.