Vertical plane control method for underwater robot

Abstract

The invention relates to a vertical plane control method for underwater robot, and the method comprises the steps: depth cascade control and longitudinal inclination angle cascade control. The depth cascade control and the longitudinal inclination angle cascade control respectively employ two first-order active-disturbance-rejection controllers: an outer ring first-order active-disturbance-rejection controller and an inner first-order active-disturbance-rejection controller. The depth cascade control comprises the steps: enabling a depth to serve as a feedback signal, and transmitting the feedback signal to the outer ring first-order active-disturbance-rejection controller, enabling an output value to serve as a given value of a vertical speed control inner ring, and obtaining a vertical control force through the inner ring first-order active-disturbance-rejection controller. The longitudinal inclination angle cascade control comprises the steps: enabling a longitudinal inclination angle to serve as a feedback signal, transmitting the feedback signal to the outer ring first-order active-disturbance-rejection controller, enabling an output value to serve as a given value of a longitudinal inclination angle speed control inner ring, and obtaining a vertical control moment through the inner first-order active-disturbance-rejection controller. The vertical control force and the vertical control force moment are enabled to act on the underwater robot. The method can improve the anti-interference capability of the underwater robot, weakens the impact from hysteresis of control of the underwater robot in water, and achieves the quick and stable control of the underwater robot on a vertical plane.

Description

Technical field [0001] The invention relates to a vertical surface control method of an underwater robot, belonging to the technical field of underwater robot control. Background technique [0002] Underwater robot is a complex nonlinear system with time-varying, coupling and time-delay. Due to harsh external factors such as wind, swells, and currents in the operating environment and internal factors that make it difficult to obtain an accurate kinematic model, the control of underwater robots becomes difficult. The vertical motion of underwater robots is a very common and important part of space motion. It is often used for navigation, snorkeling, diving, hovering, etc., so it has significant application value and research significance. [0003] The commonly used control method of underwater robots is proportional-integral-derivative (PID) control, which is simple and easy to use. However, in an environment with obvious lag and strong interference, the control accuracy and robust...

AI Technical Summary

Problems solved by technology

Robust control is mainly used to deal with internal uncertainties, and the ability to resist external interference is not strong; sliding mode variable structure control can deal with internal and external interference, but it is difficult to completely remove high-frequency chattering phenomenon; neural network control is implemented in engineering It is relatively complicated in terms of control, and there is a lag in the control process; the ADRC uses the extended state observer to unify the internal and external disturbances of the system into a total disturbance for observation and estimation, and real-time compensation, and the engineering implementation is simple and easy

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