Multi-motor coupling drive control device and method for underwater robot

An underwater robot, motor control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem that the underwater robot cannot be guaranteed to change the course smoothly, to enhance the anti-interference ability, strong targeting The effect of flexibility and flexibility to change the course

Pending Publication Date: 2022-02-25
JIANGSU UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The above-mentioned multi-motor cooperative control algorithms all aim to maintain the absolute synchronization of the speeds of multiple motors, which can ensure that the underwater robot always runs at a certain attitude, but cannot guarantee that the underwater robot will change its heading smoothly as expected.

Method used

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  • Multi-motor coupling drive control device and method for underwater robot
  • Multi-motor coupling drive control device and method for underwater robot
  • Multi-motor coupling drive control device and method for underwater robot

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Embodiment

[0071] In an embodiment, a multi-motor coupled drive control device for underwater robot consists of three modules: a single motor control module, a synchronization error weight distribution module, a multi-motor mutual coupling control module. The single motor control module consists of the ML-PDDA algorithm controller and the permanent magnet synchronous motor, and the speed error of the motor is used as the input amount of the controller, and the permanent magnet synchronous motor vector control model is combined, after the ML-PDDA algorithm policy network processing, Get the control amount of the motor model Q-axis current, and the synchronous error weight loss factor α, realize the speed control of the motor, with the multi-motor mutual coupling control module to achieve underwater robot drive synergies, such as figure 1 Indicated.

[0072] The multi-motor drive control device for multi-motor, which is designed in this embodiment, is based on the actual operation of the upper...

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Abstract

The invention relates to the technical field of underwater robot control, in particular to a multi-motor coupling drive control device and method for an underwater robot, and aims to realize constant differential operation of a plurality of electric propulsion motors by adjusting the rotating speed proportion of the plurality of motors. According to the scheme, a multiple lamb-policy decision driven algorithm (ML-PDDA) controller is designed to control the rotating speed of each motor, and weight factors are distributed on line for synchronization errors among the motors, so that the controller can have fast dynamic response, differential cooperative operation of the multiple motors is realized, and underwater nonlinear disturbance is effectively resisted.

Description

Technical field [0001] The present invention relates to the field of underwater robot control technology, in particular, is a multi-motor coupled drive control device and method for underwater robot. Background technique [0002] Underwater robots are widely used in military, underwater resource exploration, underwater search and rescue and other many fields, with the development of technology, underwater robots can replace human complement more difficult tasks. When performing various tasks, high-precision control is required for the movement trajectory of underwater robots and attitude. However, under the underwater environment, different environments have different interferences for robotics and operations, so you need to design a suitable control structure, realize multiple motors to work together, to ensure that underwater robots can resist various interference, according to Accurate trajectory movement, complete subsequent job tasks. [0003] At present, the multi-motor syn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王伟然姚杰葛慧林智鹏飞朱志宇邱海洋
Owner JIANGSU UNIV OF SCI & TECH
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