Neutral buoyancy robot attitude and trajectory control method based on distributed model predictive control

A technology of model predictive control and trajectory control, applied in attitude control, two-dimensional position/course control, etc., can solve problems such as insufficient coupling and anti-disturbance, and reduce the amount of calculation

Active Publication Date: 2018-11-16
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a neutral buoyancy robot posture and trajectory control method based on distributed model predictive control, which combines the characteristics of computer control to convert complex online optimization problems into quadratic programming problems, which can effectively solve The existing technology has insufficient coupling and anti-disturbance problems in the attitude and trajectory control of neutral buoyancy robots, which greatly reduces the amount of calculation and is suitable for engineering applications

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  • Neutral buoyancy robot attitude and trajectory control method based on distributed model predictive control
  • Neutral buoyancy robot attitude and trajectory control method based on distributed model predictive control
  • Neutral buoyancy robot attitude and trajectory control method based on distributed model predictive control

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[0064] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0065] see figure 1 , the neutral buoyancy robot posture and trajectory control method based on distributed model predictive control disclosed by the present invention is realized by the following steps:

[0066] (a):

[0067] The dynamic model of the neutral buoyancy robot in the body coordinate system considering the formula (1)

[0068]

[0069] Among them, M is the inertial mass matrix, C(v) is the Coriolis force matrix, D(v) is the viscous resistance of the robot in water, g(η) is the negative buoyancy coefficient, and τ is the system input. The considered neutrally buoyant robot is in the geographic coordinate system Ox n the y n z n and robot body coordinate system Ox b the y b z b The relationship is as follows

[0070]

[0071] in, Respectively refers to the robot in...

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Abstract

The invention discloses a neutral buoyancy robot attitude and trajectory control method based on distributed model predictive control and belongs to the field of microgravity robot control. The methodmakes a study for the coupling problem and optimization problem of a plurality of neutral buoyancy robots having different sampling periods, and simulates a unified sampling period for the neutral buoyancy robots having different sampling periods through the Delta operator theory at the controller side; and when one or more neutral buoyancy robots need to update control quantity, states of otherneutral buoyancy robots can be obtained through a predictive mode, so that the states of other neutral buoyancy robots can be taken into account in constraints to solve their control quantity, and thewhole system is allowed to ensure that coupling probability constraint is met nonconservatively, and ensure that the system performance is good. The method combines the characteristics of computer control and converts the complex on-line optimization problem into quadratic programming, thereby greatly reducing calculation amount; and the method is suitable for engineering application.

Description

technical field [0001] The invention belongs to the field of microgravity robot control, relates to a neutral buoyancy robot posture and trajectory control method, in particular to a neutral buoyancy robot posture and trajectory control method based on distributed model predictive control. Background technique [0002] Experiments in microgravity are one of the fundamental steps in the validation of terrestrial space technologies. The test and demonstration of complex space operations require the ground test system to provide a long-term, large-scale, precise, controllable and almost real microgravity test environment to simulate space motion to the same degree as space. Therefore, the application of neutrally buoyant systems to conduct experiments in microgravity environments has been extensively studied. At the same time, it is becoming more and more important for multiple neutral buoyancy systems to jointly perform tasks. [0003] However, in the neutral buoyancy system...

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Application Information

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IPC IPC(8): G05D1/02G05D1/08
CPCG05D1/02G05D1/08
Inventor 袁源徐杨袁建平
Owner NORTHWESTERN POLYTECHNICAL UNIV
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