A control method for underwater robot diving and floating motion with buoyancy adjustment function
An underwater robot and motion control technology, which is applied in the direction of three-dimensional position/channel control, etc., can solve the problems of high power consumption and inability to dive and float, and achieve energy saving, good robustness, and a wide range of applications Effect
Active Publication Date: 2021-07-27
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
[0003] In order to overcome the problems of high power consumption of underwater robot diving and floating in the past or the inability to dive at any depth within the allowable depth range, the technical problem to be solved by the present invention is to provide a kind of underwater robot diving and floating movement control with buoyancy adjustment function The method reduces the power consumption of the diving-swimming movement and can carry out the diving-swimming movement at any depth within the depth range allowed by the underwater robot
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[0041] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0042] The dive motion control of the present invention includes D 1 ,D 2 ,D 3 Three-stage control, such as figure 1 Shown; Floating motion control includes U 1 ,U 2 ,U 3 Three-stage control, such as figure 2 shown.
[0043] The diving and floating motion control method of the present invention comprises the following contents:
[0044] (1) The diving motion control includes three stages of control from floating on the water surface to complete immersion control, low power consumption diving and diving pre-braking control.
[0045] The first stage: From floating on the water surface to fully submerged control, vertical speed closed-loop control and pitch angle closed-loop control are adopted. The specific control methods are as follows:
[0046]
[0047]
[0048] Among them, T v is the target vertical force, τ p is the target...
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The invention relates to a method for controlling the submerged-floating movement of an underwater robot with a buoyancy adjustment function, which realizes the three-stage submersion of the UUV from floating on the water surface to complete immersion under various sea conditions, submerging with low power consumption and submerging pre-braking. There are three stages of floating movement including submersible movement, rising start, low power consumption rising and rising pre-braking. The invention includes the control of submerging motion and the control of floating up; compared with the previous submerging and floating control method, the method has better adaptability and robustness, is more adaptable to changes in the external environment, and improves the underwater robot's diving and floating performance. control ability. This method has strong versatility and can be applied to various underwater robots.
Description
technical field [0001] The invention relates to the technical field of underwater robots, in particular to a method for controlling the submerged-floating motion of the underwater robot with a buoyancy adjustment function, so as to realize the vertical plane motion control of the UUV. Background technique [0002] In the development and utilization of the ocean, the application of underwater robots is more and more extensive. The traditional UUV submersible-floating control method mainly adopts the automatic control method and distributes the control force to the execution structure, or fixes the negative buoyancy counterweight to dive without power and directly floats to the water surface after throwing away the floating ballast. The advantage of the former method is that, The advantage of the latter method is that the algorithm is simple. The change of the balance weight of UUV causes the change of the buoyancy state and when the external conditions of the AUV change, the...
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IPC IPC(8): G05D1/10
Inventor 刘铁军姜志斌尹远李吉旭
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI