| With the continuous expansion of global energy demand,the amount of offshore oil pipeline sinks is increasing rapidly.Corrosion control of offshore pipeline sinks plays an important role in ensuring the normal operation of offshore oil engineering equipment.In the corrosion control task of marine manifolds,Autonomous Underwater Vehicle(AUV)undertakes the key tasks of approaching the anode block,observing and maintaining the anode block and its support.In the process of approaching observation,the attitude perception and control of robots play an important role in the successful realization of task objectives.Firstly,a scheme of anti-jamming and fault-tolerant integrated navigation system based on MEMS devices is studied and put forward.Then,a forward-feed compensated forward heading and depth control scheme is proposed for the disturbance effect of manipulator motion on the platform.Preliminary experimental results show that the proposed navigation system scheme and control strategy can improve the technical performance of AUV in operation process.Firstly,the main performance and technical parameters of AUV are analyzed in order to meet the application requirements of corrosion control of marine manifolds.On this basis,the overall scheme of AUV system is designed.Then,based on the designed AUV system,its kinematics and dynamics model are analyzed in depth,which lays a foundation for the design of navigation system and motion control strategy.In practical and experimental environments,the magnetic field interference may affect the attitude parameters of AUV,resulting in unsatisfactory AUV motion control effect.In order to accurately measure the attitude of AUV system,this paper presents an anti-interference and fault-tolerant processing algorithm for the inertial navigation system of MEMS.The algorithm first estimates the signal residual,then dynamically adjusts the confidence of the local filter through the residual value,and finally fuses the sensor signals of different working principles by the confidence level,which can significantly improve the stability of the attitude feedback signal.And reliability.In the proximity observation of the anode block and the support,the disturbance of the manipulator will interfere with the attitude of the AUV body,and then affect the control accuracy and observation effect of the underwater camera at the end of the manipulator.In this paper,a disturbance compensation algorithm for on-board system of ship is proposed based on the model of a Four-Degree-of-Freedom electric drive manipulator mounted on AUV.Under limited sensor conditions,the disturbance of the manipulator in the direction of bow and depth is simplified and compensated to the feedforward channel of the controller in order to reduce the disturbance of the manipulator.This algorithm has the same disturbance suppression effect as the traditional theoretical calculation method,but it has a small amount of calculation and is suitable for the real-time calculation of on-board system on ship.In this paper,after completing the construction of AUV control system and software design,the AUV prototype is built.The function debugging and basic motion experiment of AUV prototype are also introduced.Then,step and sinusoidal response experiments in the forward and depth directions of the AUV prototype are carried out in the laboratory pool environment to ensure the consistency between the dynamic performance of the AUV prototype and the simulation model. |
