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带缆水下机器人是深海勘探或采油的重要工具之一.近年来,国内外学者对其开展了广泛研究,部分成果已应用于工业生产环境.针对带缆水下机器人,从总体设计、脐带缆动力学、水动力性能、运动姿态控制以及水下机械手和作业装备等研究现状以及发展趋势进行分析综述.在总体设计方面,市场化与低成本技术使水下机器人使用前景更加广阔,针对各类特定任务的轻型和重型水下机器人发展极快;在水动力方面,机器人本体与脐带缆和机械手的耦合效应非线性较强,目前本体动响应预测精度不足,导致基于运动反馈的控制算法效果欠佳;在控制方面,滑模控制算法由于不依赖动力学响应而获得了较多应用,而基于模糊理论和神经网格的方法验证不够充分;在深海作业方面,多个刚体铰链外加抓具的结构是水下机械手最为常见的形式.扩展工具成为机械手的强有力补充,使水下机器人在深海资源获取中越来越不可替代.
Abstract：Remotely operated vehicle(ROV) is one of critical tools widely used in deep-sea exploration. In recent years, worldwide scholars have carried out extensive research. Some achievements have been applied in related industry. This paper depicts a technique image of ROVs in offshore petroleum industry, including overall design, umbilical cable mechanics, hydrodynamic performance, motion control/positioning, underwater manipulators, and external intervention tools. In overall design, marketization and low-cost technologies make ROV boom in deep-sea industry. Marvelous light or heavy work-class ROVs for different targets have been developed in decades. In hydrodynamics, since the coupling effects between ROV and manipulators or umbilical cables are nonlinear, until now it seems still complicated to predict underwater response of the body. This leads to invalidation of control methods based on the response. In terms of motion control, the sliding mode algorithm dominates this area because of its independence of the response. Methods based on fuzzy theory or neural networks need to be verified in practice. In deep-sea operations, underwater manipulators with multiple rods conjoined with hinges and extra gripper are very common. As powerful supplements, external intervention tools make ROVs more irreplaceable in deep-sea industry.
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基本信息:
中图分类号:TP242
引用信息:
[1]吴杰,王志东,凌宏杰,等.深海作业型带缆水下机器人关键技术综述[J].江苏科技大学学报(自然科学版),2020,34(04):1-12.
基金信息:
江苏省产业前瞻与共性关键技术基金资助项目(BE2017121)
2020-08-15
2020-08-15