Underwater robot attitude control method

Abstract

The invention relates to an underwater robot attitude control method. A slave control board A collects the voltage and current of a power source, the temperature of the power source, the temperature and humidity in an electronic cabin, and information indicating whether water leakage occurs in the electronic cabin; the voltage and current of the power source, the temperature of the power source, the temperature and humidity in the electronic cabin, and the information indicating whether water leakage occurs in the electronic cabin are subjected to data processing of various modules; the processed data are transmitted to a master control board through an RS232 communication module; a slave control board B performs data processing and analysis of received data of a depth meter and an electronic compass and transmits processing results to the main control board through the RS232 communication module; after receiving navigation and depth information, the main control board calls a new fastnon-singular terminal sliding-mode control method according to the attitude control command of a console so as to calculate the rotational speed of each thruster; the rotational speed is putted intoa DA conversion module; obtained information is transmitted to each thruster; and therefore, the attitude control of a robot can be realized. With the underwater robot attitude control method of the present invention adopted, the problem of slow local convergence and easy fluctuation of the conventional non-singular terminal sliding mode control method can be solved.

Description

technical field [0001] The invention belongs to the underwater robot control technology, in particular to an underwater robot posture control method, which can be used for posture and depth adjustment of the underwater robot during navigation. Background technique [0002] In recent years, whether it is the development of marine resources or the utilization of terrestrial water resources, the research of underwater robots has gradually become a hot issue in the research and application of robots. Underwater robots play an important role in underwater search and rescue, archaeological research, marine biological observation, investigation and evidence collection, offshore oil and gas pipeline investigation, energy exploration, etc. It is of great practical significance to develop the national economy. [0003] A flexible, stable and reliable attitude control method for underwater robots is an important guarantee for underwater robots to perform various underwater operations....

AI Technical Summary

Problems solved by technology

[0007] The technical problem to be solved by the present invention is to provide an underwater robot attitude control method that can effectively solve the problems of slow local convergence and easy fluctuations in the traditional non-singular terminal sliding mode control method

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