水下遥控机器人运动仿真数学模型的研究

Research on Mathematical Model of Underwater Remote Control Vehicle Motion Simulation

水下遥控机器人(ROV)模拟器对ROV本体运动的正确描述,实时解算ROV在各类作业中的动力学、运动学模型,是衡量模拟器逼真度的核心指标。介绍了ROV运动数学模型及运动数学模型的系统任务;采用缩小比例为1∶4的ROV缩比试验模型,分别进行纵向直航测试、垂向直航测试、侧向直航测试和俯仰试验,对比分析仿真数据和试验数据,以验证ROV仿真的准确性。与实船监测数据的对比分析表明,该运动模型自航与动力定位模式下的误差均小于10%,可以满足视景仿真对于实时性的要求。

Whether the development of the underwater remote operated vehicle(ROV) simulator can correctly describe the motion of the ROV body and solve the dynamics and kinematics model of the ROV in real time in various operations is the core index to measure the fidelity of the simulator. The mathematical model of ROV motion and its system task are introduced. Using the ROV test model with a scaling ratio of 1∶4,the vertical direct flight test,vertical direct flight test,lateral direct flight test and pitch test are carried out respectively. The simulation data and experimental data are compared and analyzed to verify the accuracy of ROV simulation. The comparison and analysis with the real ship monitoring data,the error of the motion model in both self-navigation and dynamic positioning modes is less than 10%,which meets the real-time requirements of visual simulation.