ROV协同沉船开孔稳定约束方法

郭东军; 王旭阳

doi:10.11993/j.issn.2096-3920.2025-0037

ROV协同沉船开孔稳定约束方法

doi: 10.11993/j.issn.2096-3920.2025-0037

郭东军,
王旭阳^,

上海交通大学船舶海洋与建筑工程学院, 上海, 20024

基金项目: 国家重点研发计划项目(2023YFC2809701).

详细信息

作者简介:
郭东军(2001-), 男, 在读硕士, 主要研究方向为ROV协同作业优化控制

通讯作者:
王旭阳(1977-), 男, 博士, 高级工程师, 主要研究方向为水下机器人与深海作业装备技术.

中图分类号: TJ6; U674.941
计量
- 文章访问数: 33
- HTML全文浏览量: 9
- PDF下载量: 11
- 被引次数: 0
出版历程
- 收稿日期: 2025-02-28
- 修回日期: 2025-05-08
- 录用日期: 2025-05-09
- 网络出版日期: 2025-05-22

Stability Constraints of ROV-Coordinated Hole Drilling on Shipwrecks

GUO Dongjun,
WANG Xuyang^,

School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 20024, China

摘要

摘要: 遥控水下机器人(ROV)协同沉船开孔是实现水下开孔与抽油一体化的重要技术环节。目前工程领域关于该控制场景下的研究进展有限, 尚缺乏有效方法对ROV协同沉船开孔的位姿实现稳定约束。文中针对ROV协同沉船开孔过程中的位姿稳定性要求, 类比地面作业设备的稳定性原理建立了ROV协同沉船开孔的稳定性判据, 并基于此判据提出了一种推力修正算法。通过对各推进器的推力进行修正, 确保协作体受力状态满足稳定性判据, 从而实现对协作体位姿的稳定性约束。仿真结果表明, 所提出的稳定约束方法能够有效保持协作体在作业过程中的位姿稳定; 在稳性状态方面, 与推力修正前的状态相比, 协作体从非稳定约束状态进入到稳定约束状态, 充分验证了所提方法的有效性与可行性。
- 遥控水下机器人 /
- 协同作业 /
- 位姿控制 /
- 水下开孔 /
- 抽油 /
- 沉船
Abstract: Remotely operated vehicle(ROV)-coordinated hole drilling on shipwrecks is a key technical component for achieving underwater drilling and oil extraction integration. Currently, research on this control scenario in the engineering field is limited, and effective methods for stabilizing the pose of ROV-coordinated hole drilling on shipwrecks are lacking. This paper addressed the pose stability requirements during the ROV-coordinated hole drilling process on a shipwreck. By drawing parallels with the stability principles of ground-based equipment, a stability criterion for ROV-coordinated hole drilling on shipwrecks was established. Based on this criterion, a thrust correction algorithm was proposed. By modifying the thrust of each thruster, the force state of the collaborative system met the stability criterion, thereby achieving the stability constraints for the collaborative system’s pose. Simulation results show that the proposed stability constraint method can effectively maintain the pose stability of the collaborative system during the operation. In terms of stability, compared with the pre-correction state, the collaborative system transitions from an unstable constraint state to a stable constraint state, fully verifying the effectiveness and feasibility of the stability constraint method proposed in this study.
- remotely operated vehicle /
- coordinated operation /
- pose control /
- underwater drilling /
- oil extraction /
- shipwreck

HTML全文

图 1 ROV协同沉船开孔场景图

Figure 1. ROV-coordinated hole drilling on shipwreck

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图 2 协作体-目标钢板对接稳定性示意图

Figure 2. Stability diagram of the cooperative system and target steel plate docking

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图 3 大地坐标系与载体坐标系

Figure 3. Earth coordinate system and body coordinate system

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图 4 水平推进器布局

Figure 4. Horizontal thruster configuration

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图 5 总体控制框图

Figure 5. Overall control diagram

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图 6 位姿控制框图

Figure 6. Diagram of pose control

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图 7 稳定性判据

Figure 7. Stability criterion

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图 8 内部点判断

Figure 8. Judgment of the interior points

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图 9 ROV协同开孔模型图

Figure 9. Diagram of ROV collaborative drilling

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图 10 协作体位置监测

Figure 10. Position monitoring of collaborative system

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图 11 协作体姿态监测

Figure 11. Attitude monitoring of collaborative system

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图 12 引入修正算法前后稳性状态

Figure 12. Stability state before and after introduced the correction algorithm

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