Snorkeling control method for cable-free autonomous underwater vehicle

A technology of underwater robot and control method, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve problems such as strong coupling and underactuation of underwater robots

Inactive Publication Date: 2016-06-29
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
View PDF5 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Therefore, researching a simple and practical underwater robot diving and floating control method, solving the problems of underactuation and strong coupling of under

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Snorkeling control method for cable-free autonomous underwater vehicle
  • Snorkeling control method for cable-free autonomous underwater vehicle
  • Snorkeling control method for cable-free autonomous underwater vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0043] The present invention is described in detail below in conjunction with accompanying drawing.

[0044] The cable-free autonomous underwater robot diving and floating control method based on the active disturbance rejection control technology of the present invention comprises the following steps:

[0045] Step 1: Establish a cable-free autonomous underwater vehicle system model, which is described as follows:

[0046] 1 0 0 0 I y - M q . - mx G - ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a snorkeling control method for a cable-free autonomous underwater vehicle. The method comprises the following steps: acquiring longitudinal inclination angle and vertical velocity signals via a sensor installed on the robot, transmitting the inclination angle and vertical velocity signals to an extended state observer as feedback signals to obtain estimated values of longitudinal inclination angle, longitudinal inclination angle rate, vertical velocity and total system disturbance, and filtering the set values of the longitudinal inclination angle and the vertical velocity via a tracking differentiator to obtain filtered tracking values and differential values; separately subtracting the longitudinal inclination angle and the differential value thereof from the estimated values of the longitudinal inclination angle and the longitudinal inclination angle rate, and then inputting the differences to a nonlinear state error feedback control law, wherein the output of the control law and the compensation of the disturbance estimated value form a longitudinal inclination angle control quantity; similarly, performing corresponding processing on the vertical velocity to obtain a vertical velocity control quantity. Thus, complete decoupling control of the longitudinal inclination angle and the vertical velocity is realized, the control requirement for snorkeling motion of the underwater vehicle at a given longitudinal inclination angle and a given vertical velocity is met, and a technical guarantee is provided for fixed point vertical section observation of the underwater vehicle.

Description

technical field [0001] The invention relates to a submersible-floating control method of a cableless autonomous underwater vehicle (AUV for short), and belongs to the technical field of underwater robot control. Background technique [0002] The underwater robot is a complex system with nonlinear, time-varying, strong coupling, large time delay and multiple degrees of freedom. Due to the complexity of hydrodynamic parameters and the constant changes of wind, waves, currents, etc., it is difficult to obtain an accurate mathematical model of AUV, making it very difficult to obtain high-precision control of AUV. The diving and floating movement of underwater robots is an example of its space movement, which is often used in fixed-point observation, underwater suspension and other situations, so it has practical significance and application value in the research of AUV space movement and control technology. [0003] With the continuous increase in the application of underwater ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/10G05B13/04
Inventor 姜志斌郑荣刘铁军崔健
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap