Underwater robot vertical plane motion control method based on parameter identification

Abstract

The invention relates to the technical field of motion control of underwater robots, in particular to a motion control method of a variable-structure underwater robot, and realizes high-precision vertical plane control of the variable-structure underwater robot under a mechanical arm disturbance condition. According to the method, the change characteristics of the statics parameters of the robot under the motion of the mechanical arm are estimated in real time from the angle of parameter identification, and the motion of the mechanical arm and the motion of the underwater robot body are uniformly put into a filter for identification and estimation by adopting an online parameter identification technology based on a kinetic model; according to the attitude angle and the speed measurement value of the underwater robot, feeding back and correcting the estimated value of the statics parameter, and meanwhile, designing a parameter recursion damping and a forgetting factor, so that the over-parameterization risk in the parameter identification process is reduced, and the real-time accurate estimation of the statics parameter is realized; and time-varying statics parameter estimation is combined with a kinetic model, so that high-precision vertical plane motion control of the underwater robot under the condition of mechanical arm disturbance is realized.

Description

technical field [0001] The invention relates to the technical field of motion control of an underwater robot, in particular to a motion control method for a variable-structure underwater robot, which realizes high-precision vertical plane motion control of the variable-structure underwater robot under the condition of mechanical arm motion. Background technique [0002] Underwater robots are important engineering equipment in marine engineering and marine scientific research. Underwater robots mainly include remote-controlled underwater robots and autonomous underwater robots. Underwater operation tools, undertake tasks such as grasping underwater scientific targets, deployment and installation of underwater engineering equipment; autonomous underwater robots carry energy themselves, do not rely on umbilical cables for power supply and communication, carry a variety of underwater detection loads, and undertake underwater tasks. Under the long-distance survey and exploration ...

AI Technical Summary

Problems solved by technology

The traditional analysis method of the manipulator is to directly calculate the static parameters of the manipulator during the movement process from the perspective of the static model. Its disadvantage is that the theoretical calculation accuracy of the static parameters of the buoyancy distribution during the movement of the manipulator is low, which reduces the impact of variable structure water. The control accuracy of the robot control method

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