Trajectory tracking control method for remote-controlled underwater robot with multiple thrusters
An underwater robot and trajectory tracking technology, which is applied in the direction of three-dimensional position/channel control, can solve the problems of poor practicality, and achieve the effect of simple structure, satisfactory control effect, and convenient parameter setting
Inactive Publication Date: 2020-05-12
NORTHWESTERN POLYTECHNICAL UNIV +1
View PDF9 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] In order to overcome the shortcomings of poor practicability of existing underwater robot control methods, the present invention provides a multi-propeller remote control underwater robot trajectory tracking control method
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0021] refer to figure 1 . The specific steps of the remote control type underwater robot trajectory tracking control method with multiple propellers of the present invention are as follows:
[0022] Step 1. The motion equation based on the ROV body coordinate system is as follows:
[0023]
[0024] where M is a generalized mass positive definite matrix, is the position and yaw angle of the underwater robot, v=[u r v r r] is the generalized water velocity, u r is the longitudinal velocity, v r is the lateral velocity, r is the yaw rate, is the yaw angle, C(v) is the oblique symmetric matrix of the generalized drag coefficient, D(v) is the hydrodynamic parameter, τ c is the control torque vector; the values of each matrix and parameters are as follows:
[0025]
[0026] where m 11 =47.5,m 22 =94.1,m 33 =13.6, m 23 =m 32 =5.2, d 11 =13.5, d 22 =50.2, d 33 =27.2,d 23 =41.4, m 32 = 17.3.
[0027] Step 2. Establish a suitable coordinate system. Establi...
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
Login to View More Abstract
The invention discloses a trajectory tracking control method of a multi-propeller remote control type underwater robot, which is used for resolving the technical problem that the practicality of the conventional underwater robot controlling method is poor. The technical scheme is that based on the motion equation of a ROV body coordinate system, two basic coordinate systems of the ROV can be respectively established as a fixed coordinate system and a moving coordinate system; the selected coordinate systems comprise a geocentric inertial coordinate Oexiyizi, an earth coordinate system Oexeyeze, a geographic coordinate system Oxnynzn, and a ROV body coordinate system Oxbybzb; the controlling of a underwater robot can be realized through defining the tracking error and taking the control law. The invention is advantageous in that with the adoption of the trajectory tracking controller, no accurate mathematic model is required; the structure is simple, parameter setting is convenient, and industrial realization is easy and applicability is wide; the controlling effect of the system can be satisfied through adjusting parameters.
Description
technical field [0001] The invention relates to a control method of an underwater robot, in particular to a track tracking control method of a remote-controlled underwater robot with multiple thrusters. Background technique [0002] Due to the relatively large motion inertia of ROV (remote control underwater robot), the uncertain hydrodynamic coefficient, the operating motion of the manipulator affects the dynamic characteristics of the robot body, and there are random disturbances such as ocean currents, its dynamic model is difficult to determine, and it has strong coupling. And nonlinear characteristics make ROV difficult to control. With the expansion of ROV's application range, the requirements for its autonomy, precision and stability of motion control are all increasing. How to improve its motion control performance has become an important research topic. [0003] The underwater robot is a very complex system, and it is very difficult to establish an accurate mathema...
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
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/10
Inventor 袁源许斌陈杰凡永华张安龙
Owner NORTHWESTERN POLYTECHNICAL UNIV