Underwater unmanned aerial vehicle self-balancing control method and system

Abstract

The invention belongs to the technical field of underwater detection robots and particularly relates to an underwater unmanned aerial vehicle self-balancing control method and system. The underwater unmanned aerial vehicle self-balancing control method provided by the invention comprises the following steps: step a, arranging at least one reversible propeller on an underwater unmanned aerial vehicle; step b, converting acting force borne by the underwater unmanned aerial vehicle into resultant force on at least one degree-of-freedom of motion through a degree-of-freedom of motion control model, wherein the degree-of-freedom of motion is corresponding to a measurable motion control parameter; step c, designing a corresponding sub PID controller according to each degree-of-freedom of motion;step d, calculating the thrust required for the at least one reversible propeller through a thrust distribution matrix. The underwater unmanned aerial vehicle self-balancing control method and systemprovided by the embodiment of the invention have the benefits that the closed-loop motion control of the underwater unmanned aerial vehicle on five degrees of freedom can be completed very smoothly and quickly, the control system is high in coupling degree, a control algorithm is easy to implement, and control strategies are simple and efficient.

Description

technical field [0001] The application belongs to the technical field of underwater detection robots, and in particular relates to a self-balancing control method and system for underwater drones. Background technique [0002] PID motion control technology and algorithm is a control method and strategy based on the concept of feedback to reduce uncertainty. It is currently the most widely used control regulator in engineering practice. PID controller (proportional-integral-differential controller) is a common feedback loop component in industrial control applications, which consists of proportional unit P, integral unit I and differential unit D. The basis of PID control is proportional control. Integral control can eliminate steady-state error, but may increase overshoot; differential control can speed up the response speed of large inertia system and weaken the overshoot tendency. At present, in the motion control of underwater robots, most of them use ordinary PID or PI ...

AI Technical Summary

Problems solved by technology

[0003] In the current closed-loop control strategy of underwater drones, the PID controllers for depth determination, orientation and attitude stability are control strategies with separate functions. Generally, each PID controller works independently, and 1 to 2 PIDs are enabled according to specific needs. controller, so it is difficult to complete the complete self-balancing suspension control of the body; at the same time, not all propellers are controlled by a single controller, but some of them may be combined with the control of other propellers given by the terminal equipment signal, the closed-loop control effect of PID may not be obvious and effective

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