Improved generalized prediction control method for work arm of underwater robot

A generalized predictive control, underwater robot technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the model identification time and control rate calculation time is long, generalized predictive control can not achieve stable control, conventional Identify problems such as poor adaptability of the algorithm to meet the needs of job control, save the matrix calculation process, and reduce the amount of calculation.

Inactive Publication Date: 2018-04-20
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology

However, the calculation amount of the GPC algorithm is relatively large, and the conventional identification algorithm used to obtain the model parameters is also poor in adaptability. Therefore, it is necessary to design a motion control algorithm suitable for underwater manipulators based on the GPC algorithm.
[0007] Chinese patent document CN 104865979A discloses an adaptive generalized predictive control method and system for sew...

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  • Improved generalized prediction control method for work arm of underwater robot
  • Improved generalized prediction control method for work arm of underwater robot
  • Improved generalized prediction control method for work arm of underwater robot

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[0029] The present invention will be further described below in conjunction with the drawings and embodiments.

[0030] It should be pointed out that the following detailed descriptions are all illustrative and are intended to provide further explanations for the application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs.

[0031] It should be noted that the terms used here are only for describing specific implementations, and are not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate There are features, steps, operations, device...

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Abstract

The invention discloses an improved generalized prediction control method for a work arm of an underwater robot. A T-S fuzzy identification model suitable for nonlinear system identification is established, a real-time CARIMA parameter model of the underwater arm is obtained by identification, a step factor is introduced to form a progressive relation, a progressive generalized prediction controlalgorithm is used to generate an optimal control variable via rolling prediction optimization, and a controller of a hydraulic driver is acted on, so that the underwater arm generates a correspondingmotion. According to the improved algorithm of the invention, it is not required to know the structure of a controlled object model, dynamic change of the system can be reflected timely, tedious matrix calculation processes are omitted, the computational complexity is reduced, and the algorithm is simpler and more practical.

Description

Technical field [0001] The invention relates to an improved generalized predictive control method of an underwater robot operating manipulator. Background technique [0002] An underwater robot is a device that moves freely underwater through remote control or autonomous control, has an environmental perception system, and uses robotic arms and other tools to replace or assist manual completion of underwater tasks. It is widely used in scientific research, social economy, Military and other fields are the most effective and potential high-end intelligent equipment for marine exploration and underwater operations, and a large number of specialized mature commercial products have emerged. [0003] The underwater manipulator is an indispensable operating tool for underwater robots. At present, hydraulically driven manipulators are mostly adopted by underwater robots. Such manipulators have a large power density ratio, strong load capacity, and are easy to achieve waterproof sealing. ...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈斌王万国许玮李超英傅孟潮李建祥赵金龙刘越李荣苏建军白万建杨波石鑫李勇李笋黄振宁
Owner STATE GRID INTELLIGENCE TECH CO LTD
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