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Trajectory tracking control method, device and system of variable-parameter open-frame type ocean underwater robot

An underwater robot, trajectory tracking technology, applied in the direction of control/regulation system, non-electric variable control, height or depth control, etc., to improve the response speed and improve the accuracy of trajectory tracking control.

Active Publication Date: 2018-02-02
深圳力合精密装备科技有限公司
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Problems solved by technology

At present, the trajectory tracking control of marine underwater robots is mainly concentrated on conventional underwater robots (mainly AUV), and there are few studies on the trajectory tracking control of open-frame marine underwater robots, especially the variable-parameter open-frame marine underwater robots. Trajectory tracking control problem, there is no related technology

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  • Trajectory tracking control method, device and system of variable-parameter open-frame type ocean underwater robot
  • Trajectory tracking control method, device and system of variable-parameter open-frame type ocean underwater robot
  • Trajectory tracking control method, device and system of variable-parameter open-frame type ocean underwater robot

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Embodiment Construction

[0027] The specific implementation of a variable parameter open-frame marine robot trajectory tracking control method is as follows:

[0028] Such as figure 1 As shown, the local coordinate system H-XYZ is established on the motion platform 1 to represent the parameters of the variable-parameter open-frame marine underwater robot and to parameterize the center of gravity of the mechanical arm 2. The origin H is located at the center of gravity of the upper surface of the marine robot, and the X-axis Along the forward direction of the marine robot, the Y-axis is perpendicular to the X-axis and points to the right side of the robot, and the Z-axis is perpendicular to the XY plane and points to the bottom plate of the robot. When establishing the local coordinate system of the variable-parameter open-frame marine underwater robot motion platform, a geodetic coordinate system with the earth as the reference object is established at the same time. Vertically downwards in the verti...

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Abstract

The invention relates to ''a trajectory tracking control method, a trajectory tracking control device and a control system of a variable-parameter open-frame type ocean underwater robot''. An embodiment of the invention relates to path tracking control of the variable-parameter open-frame type ocean underwater robot. The variable-parameter open-frame type ocean underwater robot has four degrees offreedom and carries a mechanical arm. Due to the attitude changes of the mechanical arm, parameters of the open-frame type ocean underwater robot are variable. The trajectory tracking control methodcomprises the steps of calculating a position of a gravity center in real time by adopting a gravity center formula, establishing gravity center coordinates of the variable-parameter open-frame type ocean underwater robot at the position of the gravity center, establishing a kinetic model of the variable-parameter open-frame type ocean underwater robot based on the gravity center coordinates, andadopting an acceleration compensation control method for performing trajectory tracking control on the variable-parameter open-frame type ocean underwater robot, thereby realizing high-precision motion control of the variable-parameter open-frame type ocean underwater robot. The kinetic model and motion control provided by the embodiment of the invention have universal applicability to the variable-parameter open-frame type ocean underwater robot.

Description

technical field [0001] The invention relates to a dynamic modeling and trajectory tracking control scheme of a variable-parameter open-frame marine underwater robot, in particular to a trajectory tracking control scheme related to acceleration speed compensation. technical background [0002] Exploring and developing the ocean has important strategic significance, and marine underwater robots have emerged as the times require and play an important role in the ocean field. With the continuous development of marine underwater robots, its application fields are also expanding, and unprecedented breakthroughs have been made in the research and development of the ocean world, exploration of unknown areas, scientific practice investigations, and underwater engineering implementation. In terms of civilian use, marine underwater robots are mainly used to realize marine environmental data monitoring and seabed resource exploration. In terms of military affairs, marine underwater rob...

Claims

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Application Information

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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 陶彦博刘厚德王松涛
Owner 深圳力合精密装备科技有限公司
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