Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures
Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures
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控制紧凑型无系绳 ROV，用于复杂水下结构的接触式检查
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
H. Asada
中科院分区：
文献类型：
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作者：
S. Bhattacharyya;H. Asada
本文研究了一种水下接触式远程检测探测车——椭球探测车（Ellipsoidal Vehicle for Inspection and Exploration， EVIE）的动力学建模与控制。水下表面检查是一项具有挑战性和危险性的任务，需要复杂的自动化，如沸水核反应堆、水管、潜艇船体和输油管道的检查。EVIE的灵感来自其前身Omni潜水器，其椭圆形，流线型和无附件的形状。该机器人的目标是携带检测传感器——磁性、声学或视觉传感器——以确定水下表面的裂缝。与机器人在几乎无限的流体中移动不同，接触力通过引入法向力和摩擦力使动力学复杂化，这两种力在本质上都是高度非线性的。这使得建模更具挑战性，集成控制器的开发也更加困难。在本文中，我们将讨论这种机器人的初步设计和流体动力学建模。详细分析了该机器人众多过渡状态之一的控制方法。最终，需要将所有过渡状态整合起来，形成一个混合动力系统，该系统需要使用一个能够适应其不同状态的控制器。
In this paper we present the dynamic modeling and control of EVIE (Ellipsoidal Vehicle for Inspection and Exploration), an underwater surface contact ROV (Remotely Operated Vehicle) for inspection and exploration. Underwater surface inspection is a challenging and hazardous task that demands sophisticated automation - as in boiling water nuclear reactors, water pipeline, submarine hull and oil pipelines inspection. EVIE is inspired by its predecessor, the Omni Submersible, in its ellipsoidal, streamlined, and appendage free shape. The objective for the robot is to carry inspection sensors - magnetic, acoustics or visual - to determine cracks on submerged surfaces. Unlike a robot moving in a practically boundless fluid, contact forces complicate the dynamics by bringing in normal and frictional forces, both of which are highly non linear in nature. This makes the modeling much more challenging and the development of an integrated controller more difficult. In this paper we will discuss the preliminary design and hydrodynamic modeling of such a robot. We analyze in detail the controls for one of the many transitional states of this robot. Eventually all transitional states need to be integrated to develop a hybrid dynamical system which shall use a controller that can adapt to its different states.