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Underwater robot control method based on multi-motor master-slave shaft collaborative algorithm

A technology of underwater robot and control method, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of underwater robot interference, inability to realize track tracking, unstable tracking control, etc., and eliminate Effects of Nonlinear and Persistent Perturbations

Pending Publication Date: 2022-02-25
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0012] In actual navigation, the underwater environment is complex and the viscosity coefficient of water is large. The surrounding water flow will cause continuous interference to the underwater robot. , resulting in unstable tracking control

Method used

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  • Underwater robot control method based on multi-motor master-slave shaft collaborative algorithm
  • Underwater robot control method based on multi-motor master-slave shaft collaborative algorithm
  • Underwater robot control method based on multi-motor master-slave shaft collaborative algorithm

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Embodiment Construction

[0032] In order to deepen the understanding of the present invention, the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments, which are only used to explain the present invention and do not limit the protection scope of the present invention.

[0033] An underwater robot control method based on a multi-motor master-slave axis cooperative algorithm, which consists of four parts: a main shaft control module, a normalized proportional synchronization coefficient distribution algorithm module, a driven axis motor control module, and multi-motor cooperative control module. The main shaft part is composed of an adaptive backstepping controller and a main shaft motor model. The normalization algorithm redistributes the motor control quantity of the upper computer, and the driven shaft controller is designed as a dynamic surface backstepping sliding mode control method. Combining the single propulsion motor control...

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Abstract

The invention belongs to the technical field of underwater robot electric propulsion control, and particularly relates to an underwater robot multi-motor cooperative algorithm based on a multi-motor master-slave shaft and a control method thereof. According to the scheme, a normalized proportion cooperative distribution method is utilized to realize differential operation of a plurality of propulsion motors of a driven shaft under a proportional synchronization relation. According to the multi-motor cooperative control system, the dynamic surface backstepping sliding mode controller is adopted to control the rotating speed of the driven shaft propulsion motor, the underwater random nonlinear and continuous disturbance can be effectively eliminated through the control method, the proportional coordination synchronization process of the multiple motors is guaranteed, and the high disturbance rejection capacity is achieved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and specifically relates to a multi-motor cooperative algorithm of an underwater robot based on a multi-motor master-slave axis and a control method thereof. Background technique [0002] With the increasingly prominent contradiction between limited land resources and population explosion, marine exploration and development has become a research hotspot all over the world. The exploration and development of the ocean is inseparable from the support of advanced marine science and technology. Underwater robots are capable of surveying seabed topography, seabed geological exploration, measuring marine environment and hydrological parameters, and investigating underwater organisms. It is an extremely important carrier platform when performing complex and dangerous undersea missions. However, most underwater robots will be disturbed by turbulence when operating in shallow water or narrow and co...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王伟然杨冠军智鹏飞朱志宇戴晓强杜昭平
Owner JIANGSU UNIV OF SCI & TECH
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