| Traditional hydraulic tunnel inspection is carried out by workers entering the tunnel.This method has high inspection cost and high safety risk,and the detection data is subjective.With the improvement of the level of science and technology,the underwater unmanned detection technology is gradually applied from the field of ocean detection to the field of hydraulic tunnel detection,and the need of intelligent inspection robot is increasingly urgent.The tracking control system of the underwater inspection robot is the key to ensure its reliability and security in the tunnel inspection task.When the path planning system outputs the passable path,it can cooperate with the real-time positioning system to complete the autonomous inspection task of the hydraulic tunnel.Due to the large coupling between the directions of various degrees of freedom in the tracking control process of the underwater inspection robot,and the difficulty in modeling the flow interference in the complex underwater environment,improving and enhancing the tracking control accuracy of the underwater inspection robot has become an issue of great concern.This paper takes the tunnel inspection robot developed by Sichuan Energy Internet Research Institute of Tsinghua University as the research object,and focuses on the research of tracking control method of underwater inspection robot on the basis of extensive literature review at home and abroad.Through literature review,it is known that the tracking control system of underwater inspection robots can usually be constructed into three independent modules,which are path guidance system,positioning system and dynamic control system.On the basis of establishing the mathematical model of the underwater inspection robot,the motion control method in the dynamic control system and the torque control allocation method of the overdriven underwater inspection robot are studied in this paper,and the target of tracking control of the underwater inspection robot is analyzed in detail.The specific research content is as follows:1.Research on mathematical model of underwater inspection robot.The mathematical model building method of the underwater inspection robot was analyzed through investigation,and the kinematic and dynamic models were constructed based on the structural characteristics of the controlled object in the paper,which laid a foundation for the subsequent research and analysis of motion control methods and torque control allocation methods,and provided data model support for the construction of the simulation environment.2.Research on Motion control method of underwater inspection robot based on active disturbance rejection control.Aiming at the insufficient control precision of motion control system in the tracking control system of underwater inspection robot due to uncertain water flow disturbance and sensor noise,an improved active disturbance rejection control method was proposed and its stability was analyzed based on the ideas of reduced order extended state observer and switching function.Finally,the simulation experiment and a variety of active disturbance rejection control methods are compared to verify that the improved active disturbance rejection control method can improve the control accuracy of the motion controller.Under the influence of noise measurement and small disturbance,the proposed method improves the response speed of the motion controller,reduces the overshoot,and the antidisturbance ability of the motion controller is greatly improved.3.Research on torque control allocation method of underwater inspection robot based on sequential quadratic programming.Aiming at the problem of oversaturation of torque control allocation in the tracking control system of the overdriven underwater inspection robot,a torque control allocation algorithm combining minimizing energy consumption and minimizing allocation errors was proposed.Considering the actual thruster thrust constraints,the torque control allocation problem of the underwater inspection robot was solved based on the sequential quadratic programming algorithm.The simulation experiment was compared with the traditional method to verify that the improved sequential quadratic programming algorithm can reduce the torque control allocation error while ensuring the thruster thrust constraints.4.Simulation research on tracking control method of underwater inspection robot.The simulation model of the underwater inspection robot in the three-dimensional environment was built based on MATLAB software,and the parametric path was set as the input of its tracking control model according to the motion of the underwater inspection robot in the autonomous inspection of the tunnel.Finally,the experimental results were analyzed.The experimental results show that the combination of the improved active disturbance rejection motion control method and the improved torque control allocation algorithm can better complete the tracking control task of the underwater inspection robot in the 3D space.The tracking error of the 3D simulation results in the horizontal and depth parts is small,which meets the accuracy requirements of the underwater inspection robot in the intelligent inspection of hydraulic tunnel. |
