Underwater robot attitude and position control method based on double-closed-loop active disturbance rejection

Abstract

The invention discloses an underwater robot attitude and position control method based on double-closed-loop active disturbance rejection. The method is characterized by firstly, for a underwater robot, using a momentum and moment theorem and using a conversion relation between a geodetic coordinate system and a body coordinate system to establish a dynamical model; designing the speed loop expansion state observer of the underwater robot to observe unmodeled and external disturbances and carrying out real-time compensation suppression so that the anti-disturbance performance of a speed loop is greatly increased and the robustness of a system is improved; aiming at the high frequency vibration characteristic of the speed loop, using a disturbance observation value to construct a speed loopactive disturbance rejection controller based on nonlinear function feedback; based on a non-linear function fhan, designing the tracking differentiator of a target position signal, giving the transition process and the target speed estimation value of a position signal, avoiding the sudden change of system response and solving the conflict of rapidity and overshoot; and designing a underwater robot position loop proportion-differential controller based on position deviation feedback, wherein the controller is suitable for engineering application.

Description

technical field [0001] The invention belongs to the field of underwater robot control, and relates to an attitude and position control method of an underwater robot, in particular to an attitude and position control method of an underwater robot based on double-closed-loop self-disturbance rejection. Background technique [0002] With the deepening of human development of marine resources, underwater robots have replaced artificial diving due to their deep dive depth and long working time, providing a powerful tool for human research and development of deep sea resources. Widely concerned at home and abroad; affected by its own complex dynamic characteristics and hydrological turbulence, the coupling between the elastic body, propulsion system and structural dynamics of underwater robots is stronger, and the nonlinearity of the model is also higher; in addition, Affected by the viscous resistance of water flow, wave resistance and wave force, underwater robots are very sensi...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a kind of attitude and position control method of underwater robot based on double-closed-loop active disturbance rejection, to overcome the shortcomings of the existing nonlinear controller, which has a large calculation load, is not conducive to engineering realization and has poor anti-disturbance ability. The invention divides the underwater robot into an inner speed loop and an outer angle loop through modeling. The inner loop uses an active disturbance rejection controller, and the outer loop uses a PD controller; the speed of the inner loop changes rapidly and is greatly affected by errors. Active disturbance rejection controller to obtain stronger robustness and higher precision, the position value generally changes slowly, and sufficient robustness can be obtained by using PD control; and the controller design is simple, and the computer operating load is low

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