Design Of Dam Inspection Simulation System Based On ROS

The cabled underwater robot ROV(Remote Operated Vehicle)plays an important role in the exploration and exploitation of marine resources,inspection and maintenance of underwater equipment,auxiliary operations of large-scale marine projects,and inspections of hydropower stations and dams.With the increasing complexity of ROV operation tasks,detailed risk assessment is the basis for ensuring the safe operation of ROV.Among them,ROV simulation technology is an important means to reduce operational risks and expenditure losses.Based on the ROS(Robot Operating System),this paper designs a ROV motion control simulation system,and uses the simulation system to assist in the formulation of ROV underwater dam inspection operations.The simulation verifies the feasibility of the operation program and provides solutions reliable basis.Firstly,establish a control model for the mathematical model of the research object ROV.Use kinematics and dynamics equations to establish the mathematical model of ROV,simplify the mathematical model through the symmetry of ROV,linearize the nonlinear part of the dynamic model by selecting the control law,and add PID control to the command acceleration to establish feedback linearity control model.Aiming at the thrust saturation problem of the controller thrust distribution model,the pseudo-inverse method and normalization are used to deal with the saturated thrust.Applying the verified backstepping adaptive controller and lineof-sight guidance method,through the path following output thrust analysis and proved the feasibility of the established controller model.Secondly,for the multi-parameter optimization problem of the six-degree-of-freedom ROV controller,an optimization scheme combining Taguchi method and sequential quadratic programming method is proposed.Take the objective function output by the ROV spiral path simulation as the optimization target,select the initial value through the orthogonal test table of Taguchi method,and optimize the initial value locally through the sequential quadratic programming method,and compare the data output through the simulation with other optimization schemes..By analyzing the number of iterations,the objective function and the various data of the simulation output,it can be known that the proposed combined optimization scheme can improve the optimization efficiency of the ROV control parameters and enable the ROV to have better comprehensive performance.Finally,a dam inspection simulation system is established for the Gongzui Hydropower Station,which is the object of the simulation inspection.The existing problems of the flood discharge dam gate of Gongzui Hydropower Station are described,and the inspection plan is formulated for this problem.Based on the plan,the three-dimensional model,mathematical model and control model are written into the ROS platform.Through the ROS communication method,each component is connected and communicated to complete the construction of the simulation system.According to the inspection plan,the route is planned in the simulation system,and the dam inspection plan is visually simulated.From the simulation results,it can be seen that the root mean square of the optimized propeller thrust and other data is better than that before the optimization,and the ROV path following is accurate and smooth,and the dam inspection can be successfully completed.This provides a reliable basis for the inspection plan.