Method for controlling rolling angle of underwater robot

Abstract

The invention discloses a method for controlling the rolling angle of an underwater robot. The method comprises the following steps of (1) an input preprocessing process, (2) a fuzzy logic controllerprocessing process, and (3) a PID controller processing process, wherein output is sent to an executing mechanism. According to the method, the underwater robot serves as a research object, PID control and fuzzy control are combined through experiments and simulation, the method for controlling the rolling angle of the underwater robot through fuzzy self-tuning PID is obtained, and therefore, thecontrol precision and stability of the rolling angle are improved.

Description

technical field [0001] The invention relates to the technical field of underwater control, in particular to a method for controlling the roll angle of an underwater robot. Background technique [0002] The main influences on the precise control of the underwater robot when it moves in the water are: various movements of the manipulator during the task may cause the overall center of gravity and buoyancy to shift, thereby affecting the movement of the machine body; possible item collection during the task Or released to change the overall gravity and buoyancy of the machine to affect the movement of the machine; the disturbance of the surrounding water flow caused by the underwater robot and the water flow existing underwater itself during the underwater movement; the uncertainty of the hydrodynamic coefficient; the movement of the underwater robot non-linear and time-varying. [0003] The control methods of underwater robots mainly include PID control, fuzzy control, self-t...

AI Technical Summary

Problems solved by technology

The advantages of PID control as a traditional control method are simple, clear, stable and reliable actual parameters, but its disadvantage is that a more accurate mathematical model must be established

As for the attitude and position control system of underwater robots, because it is easily affected by changes in the external environment such as ocean currents and seawater density, the entire system is a time-varying nonlinear system, and different PID parameters need to be selected at different times. PID controller, it is difficult to make the whole operation process have better operation effect

Fuzzy control does not require an accurate model of the controlled object, but this also limits the sensitivity and stability of the control system

And most of the research on the control of underwater robots focuses on positioning, orientation, constant speed and constant depth, and there are few researches on attitude control, especially roll angle control.

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