Three-dimensional path tracking method for fully driven autonomous underwater robot structure and recovery
An underwater robot and path tracking technology, which is applied to underwater operation equipment, three-dimensional position/channel control, instruments, etc., can solve the problems affecting the control accuracy of the system, poor tracking accuracy, and difficult to eliminate chattering problems, and achieve enhanced tracking performance, improve the recovery success rate, and control the effect of flexibility
Active Publication Date: 2021-07-13
JIANGSU UNIV OF SCI & TECH
View PDF10 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Although the fuzzy control algorithm has the characteristics of strong robustness and strong anti-interference, it is difficult to directly determine the parameters of the fuzzy controller; the sliding mode control algorithm does not depend on the system model, but the chattering problem caused by the system itself is difficult to eliminate, affecting The control accuracy of the system is improved
The patent document with the application number "201210490435.X" discloses a "trajectory tracking sliding mode control system and control method for a spraying mobile robot". The chattering problem caused by sliding mode control has not been solved, and the tracking accuracy is relatively low. Poor; the patent document with the application number "201610835447.X" discloses "a UUV path tracking method based on adaptive sliding mode control", which combines sliding mode control with adaptive control, but the controller still has Inertia and Uncertainty Dependence
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0067] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0068] Such as figure 1 As shown, the structure of the fully driven autonomous underwater robot includes five parts: bow section 2, bow propulsion section 7, electronic cabin section 12, stern propulsion section 15 and main propulsion section 18; The bow propulsion section 7, the bow propulsion section 7 and the electronic compartment section 12, the electronic compartment section 12 and the stern propulsion section 15, and the stern propulsion section 15 and the main propulsion section 18 are concentrically sealed and connected; the bow section 2 includes a detector 1 , the collision avoidance sonar 4 and the bow section shell 3, the detector 1 is installed on the front of the bow section 2 through sealing, the collision avoidance sonar 4 is installed on the upper part of the bow section 2 through a watertight connector, and the bow section sh...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a fully driven autonomous underwater robot structure and a recovery three-dimensional path tracking method, provides a three-stage recovery three-dimensional path tracking method, and an improved robot recovery linear homing stage and linear tracking stage Nonsingular terminal fuzzy sliding mode control algorithm. The adopted three-dimensional path tracking method divides the recovery path into three sections, and converts each section of curve into a sequence of discrete points in space for tracking control. The improved non-singular terminal fuzzy sliding mode algorithm adopted, in the sliding mode control, a segmented switching function is designed to realize multiple sliding modes, and the sliding mode gain is optimized in real time through the fuzzy algorithm to make it fast and stable Accurately track the target point, enhance the recovery three-dimensional path tracking performance, and improve the success rate of recovery.
Description
technical field [0001] The invention relates to an autonomous underwater robot, in particular to a fully driven autonomous underwater robot structure and a method for recovering a three-dimensional path tracking stage, belonging to the technical field of robot control. Background technique [0002] With the continuous development of information technology, autonomous underwater unmanned vehicle (AUV), as one of the powerful tools for exploring ocean space, plays an increasingly important role in military and scientific research. Future AUVs will require longer underwater working time, greater autonomy, stealthier intelligence gathering capabilities, faster data analysis speeds, and stronger communication capabilities. The realization of these goals is mainly limited by two factors: self-carrying energy and underwater communication. Since there has been no breakthrough in battery technology for decades, the underwater working time of AUVs is still very short, requiring frequ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B63C11/52G05D1/10G05B13/04
CPCB63C11/52G05B13/0275G05B13/042G05D1/10
Inventor 曾庆军姚金艺朱志宇马国军戴文文
Owner JIANGSU UNIV OF SCI & TECH