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Attitude control method of underwater robot based on bp neural network s-plane control

A BP neural network, underwater robot technology, applied in attitude control, adaptive control, general control system and other directions, can solve the problem of control parameters relying on manual settings and so on

Active Publication Date: 2022-04-26
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its control parameters rely on manual setting, which brings a lot of inconvenience to the actual application in the field.

Method used

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  • Attitude control method of underwater robot based on bp neural network s-plane control
  • Attitude control method of underwater robot based on bp neural network s-plane control
  • Attitude control method of underwater robot based on bp neural network s-plane control

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Embodiment Construction

[0029] Such as figure 1 Shown, a kind of underwater robot posture control method based on BP neural network S surface control in the present embodiment comprises the following contents:

[0030] (1) Construct the body coordinate system and inertial coordinate system of the underwater robot, establish a coordinate system for the umbilical cable of the underwater robot, and establish a link coordinate system for the joints of the underwater robot manipulator using the D-H method;

[0031] (2) Establish the dynamic model of the underwater robot, and analyze and model the disturbance force of the umbilical cable and the manipulator to the underwater robot;

[0032] Such as figure 2 as shown,

[0033] η=[η 1 n 2 ] T is the position and attitude angle of the underwater robot in the motion coordinate system, where η 1 =[x y z] T ,

[0034] v=[v 1 v 2 ] T is the linear velocity and angular velocity of the underwater robot in a fixed coordinate system, v 1 =[u v w] T ...

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Abstract

The invention discloses an attitude control method of an underwater robot based on BP neural network S-plane control, establishes a dynamic model for the underwater robot, models and analyzes the disturbance forces of the umbilical cable and the manipulator, and establishes an overall The kinematics control loop and the disturbance-compensating item-based coordinated controller for disturbance-resistant control use the S-plane control based on BP neural network to ensure the global convergence of the coordinated controller for underwater robots; in the design of the dynamic control law, the underwater During the operation, the robot is subjected to the disturbance force of the manipulator and the umbilical cable, and the movement of the propeller is controlled to compensate, so as to realize the stability and precise control of the underwater robot during the operation.

Description

technical field [0001] The invention relates to attitude control of an underwater robot, in particular to an attitude control method for an underwater robot based on S-plane control of a BP neural network. Background technique [0002] The focus of underwater rescue operations is underwater search and underwater rescue operations. The use of human search and rescue is limited, and these tasks can be completely completed by underwater robots. The biggest feature of the underwater robot is its strong deep-water operation ability and easy operation. The operator can remotely control the robot to perform difficult underwater operations through a simple button on the console in the ground control room. Underwater robots can complete high-intensity and heavy-load underwater rescue operations in depths and unsafe waters that divers cannot reach. The attitude control of underwater robots is particularly important. [0003] At present, the commonly used algorithms for attitude cont...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/0275G05B13/027G05B13/042G05D1/0875
Inventor 戴晓强李宏宇
Owner JIANGSU UNIV OF SCI & TECH
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