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Fuzzy PID motion control method of underwater robot based on ESO

An underwater robot, motion control technology, applied in the direction of electric controllers, controllers with specific characteristics, etc., to achieve the effects of rapidity, improved anti-interference ability, improved stability and anti-interference ability

Active Publication Date: 2019-04-23
OCEAN UNIV OF CHINA
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Problems solved by technology

[0006] The ESO-based fuzzy PID motion control method for underwater robots of the present invention is designed to solve the problems in the prior art and propose fuzzy logic control based on ESO and PID to make up for the inability of the existing PID control technology in complex Insufficient parameter adjustment in the ocean environment, as well as the estimation and compensation of the motion attitude of the underwater vehicle and environmental interference in the case of external environmental interference, and finally realize the stability of the motion attitude of the underwater vehicle in a complex ocean environment

Method used

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  • Fuzzy PID motion control method of underwater robot based on ESO
  • Fuzzy PID motion control method of underwater robot based on ESO
  • Fuzzy PID motion control method of underwater robot based on ESO

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Embodiment 1

[0039] Example 1, such as figure 1 As shown, in order to realize the fuzzy PID motion control method of the underwater robot based on ESO, the following motion control system is proposed:

[0040] a classical PID controller; and,

[0041] The fuzzy control module integrated with the fuzzy logic control adjusts the PID control parameters through the real-time attitude information of the AUV, improves the adaptability of the control parameters in different environments, and improves the control stability of the AUV;

[0042] Extended state observer ESO, ESO performs attitude observation and interference estimation through the heading or pitch information fed back by AUV and AUV control information, and performs attitude feedback compensation and control compensation on AUV. That is, the attitude error predicted by ESO and the compensation amount of the error change rate are fed back to the system input and the interference prediction compensation amount is fed back to the contr...

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Abstract

The invention provides a fuzzy PID motion control method of an underwater robot based on ESO. According to the fuzzy PID motion control method, the defect that as for an existing PID control technology, parameter adjusting cannot be conducted under a complex marine environment is made up based on ESO and PID fuzzy logic control, the motion attitude of an underwater vehicle and environmental disturbance are estimated and compensated under the condition of external environmental disturbance, and finally, motion attitude stability of the underwater vehicle under the complex marine environment isachieved. The fuzzy PID motion control method comprises the following stages of (1) information obtaining and demand analysis, (2) system state prediction and interference compensation, and (3) PID parameter self-adjustment and AUV motion control.

Description

technical field [0001] The invention relates to an ESO-based fuzzy PID motion control method for an underwater vehicle, belonging to the technical field of fuzzy logic control. Background technique [0002] Autonomous underwater vehicles (AUVs) provide scientists and researchers with a simple, low-cost, medium- and long-term tool for collecting environmental data, which is convenient for scientists to carry out tasks such as underwater animal and plant surveys, operations in dangerous waters, seabed mapping, and environmental monitoring. Underwater robots have special structures and complex working environments, which make it very difficult to select AUV control parameters in different working environments. Therefore, the controller itself should have the adaptability and robustness of parameters in different working environments to resist changes and unpredictable environmental disturbances. [0003] Such as the CN201510536241.2 patent application proposed by Zhejiang Univ...

Claims

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Application Information

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IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 何波尹青青李红佳沈钺沙启鑫
Owner OCEAN UNIV OF CHINA
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