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A marine robot attitude control method, device and system

An attitude control and robot technology, applied in attitude control, control/regulation system, non-electric variable control and other directions, can solve the problems of stability, rapidity and accuracy with certain difficulty, achieve good adaptive adjustment ability, The effect of high posture stability, improved self-learning ability and speed

Active Publication Date: 2022-04-19
深圳力合精密装备科技有限公司
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Problems solved by technology

[0003] However, at present, many marine robots have deficiencies in the automatic adjustment of underwater attitude. Due to the complexity of underwater interference, it is difficult for the control system of marine robots to maintain good stability, speed and accuracy.

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  • A marine robot attitude control method, device and system
  • A marine robot attitude control method, device and system
  • A marine robot attitude control method, device and system

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Embodiment Construction

[0028] In order to make the object, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and the embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0029] figure 1 is a schematic diagram of a control system according to an embodiment of the present invention. Such as figure 1 As shown, the system for attitude control of marine robots includes the BFO-PNN-PID controller obtained by improving the classic PID controller. Wherein, the classic PID controller is improved by learning the probabilistic neural network itself (for example, through an adaptive learning module) and / or using, for example, a bacterial foraging optimization algorithm to train the probabilistic neural network (for example, through a training module) t...

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Abstract

This application relates to "a marine robot attitude control method, device and system". This application discloses a marine robot attitude control method, which uses the improved probabilistic neural network PID control algorithm based on the bacteria foraging optimization algorithm to control the actual pitch angle, heading angle and depth of the marine robot underwater and the expected value. The error is controlled to realize the control of the thruster. This method combines the probabilistic neural network with PID control, which has good adaptive control and anti-interference ability, and optimizes the probabilistic neural network based on the bacterial foraging optimization algorithm, which improves the self-learning ability and speed of the algorithm, making the ocean The robot can quickly obtain high attitude stability.

Description

technical field [0001] Embodiments of the present invention generally relate to the technical field of automatic control, and specifically relate to attitude control of a marine robot. Background technique [0002] In the environment of ocean development fever, marine robots have gradually become a new frontier and hot issue in navigation. Due to the existence of many external interference factors in the operation of the ocean, the marine robot is not only required to be able to move according to a predetermined trajectory under environmental disturbances in the process of performing tasks, but also needs to use the marine robot to carry out more detailed monitoring of the target in many cases. Observation and operation, which requires that the position of the marine robot relative to the target remains unchanged, that is, the marine robot is required to have a high attitude stability that can resist environmental disturbances. When the control performance declines due to c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
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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