Underwater robot control system and dynamic positioning method

Abstract

The invention discloses an underwater robot control system and a dynamic positioning method, and provides a modular control system which can achieve both floating and crawling functions and an underwater robot dynamic positioning method based on an adaptive unscented Kalman filtering state observer and a multivariable and multi-modal fast nonsingular terminal sliding mode controller which can improve the stability of underwater robots. An adaptive unscented Kalman filtering algorithm adopted has a better tracking filtering effect under the influence of factors such as external interference, physical characteristics of acceleration and artificial manipulation, has better robustness for uncertain models, and has high state estimation precision. An underwater robot can arrive at a specified place more quickly and steadily within the thrust range of a propeller, and the thrust compensation can be properly reduced in the area near a target location, so that the underwater robot can make small adjustments to ensure the positioning accuracy.

Description

technical field [0001] The invention relates to a detection and operation underwater robot, in particular to an underwater robot control system and a dynamic positioning method, belonging to the technical field of robots. Background technique [0002] With the depletion of land resources, the development and utilization of marine resources has played a huge role in promoting human development and social progress. As one of the means of developing the ocean, underwater robots have been widely concerned and researched. In recent years, most underwater robots at home and abroad only have the capability of floating or crawling, and underwater robots that can realize the two modes of floating and climbing walls are relatively rare. The underwater detection and operation robot is a novel modular, multi-functional, remote-controlled underwater robot with cables, which can freely switch between floating and crawling modes, and perform underwater operations, and is widely used in un...

AI Technical Summary

Problems solved by technology

The application number is 200310105200, and the name is "a distributed underwater robot control system". It only uses one RS-485 network communication, which has low reliability and less data transmission volume; the application number is 201310357116.6, and the name is "a shallow water robot Use the control device of the small underwater robot deck, there is no emergency stop button, it is inconvenient to deal with special situations, and it is not equipped with a tablet computer, it cannot realize mobile monitoring of the robot, and it is inconvenient for other personnel to observe the operation of the robot

The patent document with the application number "201410090281.4" discloses a "control method and control system for ship dynamic positioning system", but the PID control algorithm adopted has poor convergence, which makes the ship approach the target point slowly and is prone to Oscillation; the patent document with the application number "201510016643.X" discloses "a ship dynamic positioning method based on an improved strong tracking filter state observer", the robustness of the improved strong tracking filter state observer is relatively Poor, the accuracy of state estimation is not high, and problems such as divergence are prone to occur

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