Jet device motion control method based on target driving

Abstract

The invention provides a jet device motion control method based on target driving. The method comprises the steps: horizontal coordinates and vertical coordinates of a target under a jet body coordinate system are acquired; acquiring a yaw angle of the jet body according to the abscissa and the ordinate; inputting the horizontal distance between the target and the jet flow body into a pitch angle prediction model to obtain the pitch angle of the jet flow body, wherein the pitch angle prediction model is trained by taking the horizontal distance as a sample and the actual pitch angle as a label; and according to the yaw angle and the pitch angle, carrying out inverse kinematics solving on the jet flow body, obtaining the rotation angle of a motor in the jet flow body, and controlling the jet flow body to hit the target according to the rotation angle. The method provided by the invention not only reduces the calculation steps of inverse kinematics solution, but also avoids the complex mathematical modeling of the jet flow by using the neural network technology, and achieves the purposes of simplifying the calculation process and reducing the calculation complexity.

Description

technical field [0001] The invention relates to the technical field of ships, in particular to a method for controlling motion of a fluidic device based on target driving. Background technique [0002] The conventional inverse kinematics problem of the manipulator refers to knowing the 6D pose of the end of the manipulator, and finding the rotation angles of all joints of the manipulator. There are usually four methods for solving the inverse kinematics of the manipulator: analytical method, geometric method, iterative method and optimization method. The analytical method left-multiplies the inverse of a series of transformation matrices by the elements on the left side of each equation, then examines the elements on the right side of the equation, finds those elements that are zero or constant, and makes these elements equal to the elements at the corresponding positions on the left side to produce A valid trigonometric equation, and then solve the trigonometric equation. ...

AI Technical Summary

Problems solved by technology

[0011] The present invention provides a target-driven fluidic device motion control method, which is used to solve the defects of complex calculation and low accuracy in the motion control of the fluidic device in the prior art, and realize efficient and accurate fluidic motion control

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