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A Vertical Plane Control Method for Underwater Robot

A technology of underwater robot and control method, which is applied in the direction of attitude control, height or depth control, etc., can solve the problems of weak anti-interference ability, lagging control process, difficult to remove high-frequency chattering phenomenon, etc., to achieve engineering application, Strong robustness, convenient and quick adjustment effect

Active Publication Date: 2019-06-25
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

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  • A Vertical Plane Control Method for Underwater Robot
  • A Vertical Plane Control Method for Underwater Robot
  • A Vertical Plane Control Method for Underwater Robot

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Embodiment Construction

[0025] The present invention is described in detail below in conjunction with accompanying drawing.

[0026] The vertical surface cascade control method of the underwater robot based on the active disturbance rejection control technology of the present invention comprises the following steps:

[0027] Step 1: Establish the vertical plane kinematics model of the underwater robot, described as follows:

[0028] Vertical force equation:

[0029]

[0030] Trim moment equation:

[0031]

[0032] Attitude and position equations:

[0033]

[0034]

[0035] The above model parameters are shown in Table 1.

[0036] Table 1 Carrier geometric parameters

[0037] symbol

definition

unit

B

Carrier underwater buoyancy

Newton

W

carrier underwater gravity

Newton

m

underwater quality

kilogram

L

Carrier length

rice

θ,q

Carrier pitch angle and pitch angular velocity

rad and rad / s

w

Ca...

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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] The underwater robot is a nonlinear complex system integrating time-varying, coupling and time-delay. Due to the harsh external influence factors such as wind, surge, and current in the working environment and the internal factors that are difficult to obtain an accurate kinematic model, the control of underwater robots becomes very difficult. The vertical motion of underwater robots is a very common and important part of space motion, and is often used in navigation, floating, diving, hovering, etc., so it has significant application value and research significance. [0003] Proportional-integral-derivative (PID) control, a commonly used control method for underwater robots, is simple and easy to use, but in environments with obvious hysteresis and strong interference, the contr...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/04G05D1/06G05D1/08
Inventor 姜志斌刘铁军贾松力徐会希石凯
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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