Magnetic suspension underwater robot path following control method, device, equipment and medium

Abstract

The invention provides a magnetic suspension underwater robot path following control method, a magnetic suspension underwater robot path following control device, magnetic suspension underwater robot path following control equipment and a medium, and relates to the field of underwater robot path following control. The motion control bottleneck of a traditional underwater robot in a complex environment is broken through. In the aspect of dynamic modeling, interaction between magnetic force and fluid resistance is considered, and underwater motion characteristics of the robot are accurately described. A nonlinear control strategy combining the Lyapunov stability theory and sliding mode control is adopted, and a trajectory tracking controller with high robustness is designed to ensure that the robot can stably and efficiently operate along a predetermined trajectory in a complex underwater environment. The maneuverability and the operation precision of the underwater robot are remarkably improved, a more reliable solution is provided for the fields of ocean exploration, resource development, environment monitoring and the like, and huge application potential and market value are shown.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robot path following control, and particularly relates to a magnetic levitation underwater robot path following control method, device, equipment and medium. Background Art

[0002] In the current era of booming development of ocean resource exploitation and underwater scientific research, underwater robots, as the "vanguard" for exploring the underwater world, have become increasingly important. From the exploration of deep-sea mineral resources to the monitoring of the marine ecological environment, from the inspection and maintenance of underwater infrastructure to the excavation and research of underwater archaeology, the figures of underwater robots can be found everywhere. However, with the continuous expansion and complication of application scenarios, underwater robots are facing unprecedented challenges in motion control, especially in the key function of path following control.

[0003] Most traditional underwater robots rely on mechanical propulsion systems, such as propeller propulsion, water jet propulsion, etc. Although these propulsion methods are technically mature, in the complex and changeable underwater environment, their performance has gradually revealed many problems. For example, in turbulent water flows, it is difficult for the robot to maintain a stable posture and an accurate motion trajectory, and it is easily deflected by the water flow, resulting in a large path deviation; in the face of complex seabed terrain and obstacles, due to the limitations of its mechanical structure, the traditional propulsion system lacks flexibility and cannot quickly respond to avoid obstacles, increasing the collision risk and at the same time reducing the efficiency of task execution.

[0004] In addition, the traditional propulsion system generates relatively large mechanical noise during operation, which may not only interfere with the underwater robot's own sensor system, affecting its perception accuracy of the surrounding environment, but also have a certain impact on the living environment of underwater organisms, which is not conducive to the protection of the marine ecosystem. Moreover, the mechanical structure of the traditional propulsion method is relatively complex and requires regular maintenance and upkeep, increasing the usage cost and maintenance difficulty of the robot.

[0005] With the continuous progress of technology, magnetic levitation technology has gradually come into people's view and demonstrated great application potential in multiple fields. The core of magnetic levitation technology lies in using the interaction of magnetic fields to achieve the suspension and motion control of objects, with significant advantages such as non-contact, low friction, and high precision. When magnetic levitation technology is introduced into the field of underwater robots, it brings new ideas for solving the problems existing in traditional propulsion systems.

[0006] However, the application of magnetic levitation technology to the path following control of underwater robots is not smooth sailing. On the one hand, the underwater environment is complex and changeable, and the propagation and distribution of the magnetic field in the water will be affected by many factors, such as the conductivity of water, underwater terrain, surrounding metal objects, etc., which makes it difficult for magnetic levitation underwater robots to accurately control the magnetic field during actual operation, thus affecting the accuracy of their path following. On the other hand, magnetic levitation underwater robots need to achieve precise motion control in three-dimensional space, and most of the existing magnetic levitation control technologies are designed for two-dimensional planes or simple environments, which is difficult to meet the requirements of three-dimensional space motion control in complex underwater environments. In addition, the energy consumption of magnetic levitation underwater robots also needs to be considered during operation. Since the magnetic levitation system needs to continuously generate a magnetic field to maintain the suspension and movement of the robot, its energy consumption is relatively high. How to optimize the energy utilization efficiency of the magnetic levitation system and reduce the energy consumption of the robot while ensuring the accuracy and stability of path following control is also one of the problems that need to be solved urgently.

[0007] In general, although magnetic levitation technology provides a new solution for underwater robot path following control, it still faces many technical difficulties and challenges in practical applications. Therefore, there is an urgent need for an innovative magnetic levitation underwater robot path following control method that can effectively overcome the shortcomings of existing technologies, improve the path following accuracy, stability and flexibility of underwater robots in complex underwater environments, and reduce energy consumption to meet the growing needs of underwater operations.

[0008] In view of this, this application is filed. Summary of the invention

[0009] The present invention provides a path following control method, device, equipment and medium for a magnetically suspended underwater robot, which can at least partially improve the above-mentioned problems.

[0010] To achieve the above object, the present invention adopts the following technical solutions: A path following control method for a magnetically suspended underwater robot, comprising: Obtain the position of the magnetic levitation underwater robot base in space collected by the locator, and establish a kinematic model of the magnetic levitation underwater robot base according to the position of the magnetic levitation underwater robot base in space and the principles of physics; Based on Lyapunov stability theory, the position of the magnetic levitation underwater robot base in space and the kinematic model of the magnetic levitation underwater robot base, the steady-state error of the position of the magnetic levitation underwater robot base is calculated, and the position of the magnetic levitation underwater robot base is adjusted according to the steady-state error so that the magnetic levitation underwater robot base can move stably along the desired path.

[0011] The present invention also provides a path following control device for a magnetically suspended underwater robot, which comprises: A kinematic model establishment unit, configured to obtain the position of the base of the maglev underwater robot in space collected by a locator, and establish a kinematic model of the base of the maglev underwater robot according to the position of the base of the maglev underwater robot in space and physical principles; A steady-state error calculation unit, configured to calculate the steady-state error of the position of the base of the maglev underwater robot based on the Lyapunov stability theory, the position of the base of the maglev underwater robot in space, and the kinematic model of the base of the maglev underwater robot, and adjust the position of the base of the maglev underwater robot according to the steady-state error, so that the base of the maglev underwater robot can move stably along a desired path.

[0012] The present invention also provides a path following control device for a maglev underwater robot, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, the path following control method for a maglev underwater robot as described in any one of the above is implemented.

[0013] The present invention also provides a readable storage medium, which stores a computer program that can be executed by a processor of a device where the storage medium is located to implement the path following control method for a maglev underwater robot as described in any one of the above.

[0014] In summary, the core of the path following control method for the maglev underwater robot lies in significantly improving the motion control performance of the underwater robot in a complex environment through advanced control strategies and system architectures. Specifically, according to an integrated motion control system, the system includes an electromagnetic driver, the base of the maglev underwater robot, and a locator. Among them, the system combines electromagnetic drive technology, high-precision positioning feedback, and dynamic modeling methods, and can accurately simulate and regulate the motion behavior of the maglev robot underwater. Further, by introducing the Lyapunov stability theory and sliding mode control technology, an efficient non-linear control scheme is designed, which can ensure that the robot moves stably and accurately along a predetermined path in the presence of various interference factors. This innovative method not only effectively solves many challenges faced by traditional underwater robots in path control, but also provides a more reliable solution for the application of underwater robots in fields such as ocean resource exploration and environmental monitoring, demonstrating significant technical advantages and broad application potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic flowchart of the path following control method for a maglev underwater robot provided by the first embodiment of the present invention; Figure 2 is a framework diagram of the motion control system provided by the embodiment of the present invention; Figure 3 It is a schematic diagram of the modules of the path following control device of the maglev underwater robot provided by the second embodiment of the present invention. Detailed implementation manners

[0016] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0017] Refer to Figure 1 and Figure 2 As shown, the first embodiment of the present invention discloses a path following control method for a maglev underwater robot, which can be executed by a path following control device of the maglev underwater robot (hereinafter referred to as the control device), and particularly, executed by one or more processors in the control device to implement the following method: S1. Obtain the position of the maglev underwater robot base in space collected by the locator, and establish a kinematic model of the maglev underwater robot base according to the position of the maglev underwater robot base in space and physical principles; Specifically, step S1 includes: according to Newton's second law, determine the relationship between the magnetic force and the mass when the maglev underwater robot base moves, and its formula is: , where is the mass of the maglev underwater robot base, is the position of the maglev underwater robot base in space, is the disturbance suffered by the maglev robot in the environment, is the magnetic force, is the viscous resistance; Based on Newton's second law, analyze in three-dimensional space to obtain the magnetic force , where is the magnetic moment, is the magnetic flux density of the magnetic field, is the gradient operator used to calculate the gradient of the field in space; According to Stokes' law, determine the viscous resistance suffered by the maglev underwater robot base when moving in the solution medium, where is the liquid viscosity coefficient, is the radius of the particle, is the moving speed of the maglev underwater robot base; Approximate the magnetic field force and the horizontal distance between the maglev underwater robot and the magnetic field center as a linear relationship, and its mathematical expression is: , where is and the horizontal distance The relationship coefficient after linearization is the total magnetic force exerted on the maglev underwater robot in three-dimensional space is the magnetic force exerted on the robot in the x direction is the magnetic force exerted on the robot in the y direction is the magnetic force exerted on the robot in the z direction is the transpose symbol is the current flowing through the electromagnetic coil is the critical value of the horizontal distance between the electromagnetic actuator and the robot. Once this critical value is exceeded, the magnetic force will decrease as the distance increases Let the horizontal distance be and based on the above formula, the kinematic model of the maglev underwater robot base is obtained where is the position of the central axis of the magnetic field in the plane is the position of the maglev underwater robot base on the plane is the Stokes drag coefficient is the perturbation

[0018] In this embodiment, the path following control method of the maglev underwater robot can accurately simulate and regulate the motion behavior of the maglev robot underwater according to an integrated motion control system combined with electromagnetic drive technology, high-precision positioning feedback, and dynamic modeling methods. Among them, the system includes an electromagnetic actuator, the maglev underwater robot base, and a locator. First, the locator obtains the position information of the maglev underwater robot base in space. As a key sensing component, the locator can timely and accurately feedback the spatial position of the robot base, providing basic data support for subsequent control strategies. Based on these position data and physical principles, the kinematic model of the maglev underwater robot base is established, which is a key step to achieve accurate path control

[0019] Specifically, according to Newton's second law, the relationship between the forces exerted on the maglev underwater robot base during motion and its mass is deeply analyzed; the force situation of the robot base during motion in space is clarified. Further, in three-dimensional space, the magnetic force is analyzed in detail. The magnetic force is the core power source driving the motion of the maglev underwater robot base; through the magnetic force formula, the magnitude and direction of the magnetic force exerted on the robot base under different magnetic field conditions can be accurately calculated, providing a key basis for controlling its motion trajectory. This accurate modeling of the magnetic force enables this method to effectively regulate the motion state of the robot base in a complex magnetic field environment, significantly improving the accuracy and stability of path control

[0020] Meanwhile, considering that the magnetic levitation underwater robot base will inevitably be affected by viscous resistance when moving in a solution medium. Therefore, according to Stokes' law, the expression of viscous resistance is determined. This formula can accurately quantify the hindrance of viscous resistance to the movement of the robot base, and then effectively compensate for it through a control strategy, reduce the path deviation caused by viscous resistance, and further optimize the movement performance of the robot.

[0021] Subsequently, to simplify the model and improve the control effect, the magnetic force and the horizontal distance between the magnetic levitation underwater robot and the magnetic field center are approximated as a linear relationship. This linearization not only simplifies the mathematical model, reduces the computational complexity, but also makes the controller design more intuitive and efficient. By introducing this approximate relationship, the response speed and stability of the system can be significantly improved while ensuring the control accuracy, making the movement of the magnetic levitation underwater robot base in the horizontal direction more stable and controllable.

[0022] Immediately afterwards, after clarifying the expressions of the magnetic force and viscous resistance, the magnitude of the horizontal distance is set, and combined with the above formulas, the kinematic model of the magnetic levitation underwater robot base is finally obtained; among them, the second derivative and the first derivative of the position of the robot base represent its acceleration and velocity respectively. This kinematic model comprehensively describes the movement characteristics of the robot base in the horizontal direction, taking into account the combined action of the magnetic force and viscous resistance. Based on this model, a more accurate and effective control strategy can be designed to achieve precise control of the movement of the magnetic levitation underwater robot base, enabling it to operate stably and efficiently along the preset path.

[0023] Through the above implementation steps, an accurate kinematic model is successfully established, providing a solid theoretical basis for the path following control of the magnetic levitation underwater robot base. The establishment of this model not only improves the accuracy and stability of path control, but also enhances the adaptability and flexibility of the robot in complex underwater environments, enabling it to maintain a stable movement state in the face of various interference factors, and significantly improving the operation efficiency and reliability of the underwater robot.

[0024] S2. Based on the Lyapunov stability theory, the position of the magnetic levitation underwater robot base in space, and the kinematic model of the magnetic levitation underwater robot base, calculate the steady-state error of the position of the magnetic levitation underwater robot base, and adjust the position of the magnetic levitation underwater robot base according to the steady-state error, so that the magnetic levitation underwater robot base can move stably along the desired path.

[0025] Specifically, step S2 includes: According to the SMC principle, set the sliding surface as , where is a constant, represents the tracking error, is the desired position of the magnetic levitation underwater robot base, on the synovial surface At , the tracking error converges to zero; The kinematic model of the magnetic levitation underwater robot base is rewritten into exponential form: ,in, , , is the actual position of the magnetic levitation underwater robot base, For the controller; Substitute the synovial surface formula into the exponential kinematic model and derive it to obtain the derivative of the synovial surface: ,set up ,get ,in, is the thickness of the synovial surface, is a saturation function.

[0026] When judging hour, , select the Lyapunov function , and substitute the derivative of the synovial surface into the Lyapunov function and take the derivative to get: ,in, Control the approach law for the synovium; in, , Heng established, ,at this time The minimum value of , the synovial surface can reach the synovial surface in a limited time, is the frequency in the sinusoidal disturbance, For time.

[0027] In this embodiment, the sliding surface is carefully designed according to the sliding mode control (SMC) principle; the core of this design is to ensure that the tracking error can converge to zero on the sliding surface to accurately guide the robot base to move along the desired path, thereby achieving high-precision path following. Next, the kinematic model of the magnetic levitation underwater robot base is rewritten into an exponential form, which simplifies the complexity of the model and facilitates subsequent control design. The simplified expression can more intuitively analyze and design control strategies to achieve precise regulation of the robot base motion.

[0028] To further optimize the control strategy, the synovial surface formula is substituted into the exponential kinematic model to obtain the derivative of the synovial surface. In order to ensure the stability and rapid convergence of the synovial surface, the saturation function is introduced and the thickness of the synovial surface is set; by replacing the traditional sign function with the saturation function, the problem of system chattering is effectively avoided, thereby improving the robustness and stability of the control system.

[0029] During the control process, it is necessary to monitor the state of the sliding surface in real time. When it is judged that , select the Lyapunov function and substitute the derivative of the sliding surface into the Lyapunov function for derivation; by analyzing the derivative of the Lyapunov function, it can be seen that , always holds, thus ensuring the stability of the system. In this case, the sliding surface can reach the sliding surface within a finite time, and the minimum value of . This process not only ensures the rapid convergence of the tracking error but also significantly improves the response speed and stability of the system.

[0030] Preferably, after it is judged that the sliding surface is reached, , , perform Laplace transform processing on the sliding surface to obtain , where is the output of a first-order filter; According to the steady-state error and further derive the sliding surface to obtain , where is the value of the sliding surface at steady state; Make converge to the preset value . At this time, , perform Laplace transform processing on the derived sliding surface to obtain , , where is the Laplace transform of the disturbance , is the value of the disturbance at steady state; Substitute into the steady-state error to obtain the value of the steady-state error as: .

[0031] In this embodiment, when the sliding surface of the magnetic levitation underwater robot base reaches the preset sliding surface, first perform Laplace transform processing on the sliding surface; this processing step can convert the complex dynamic process in the time domain into an algebraic expression in the frequency domain, thereby simplifying the analysis process and improving the calculation efficiency. Through Laplace transform, the frequency-domain expression of the sliding surface is obtained, and this expression can be further simplified into the output form of a first-order filter; among them, this form of first-order filter can not only effectively smooth the control signal but also improve the response speed and stability of the system.

[0032] Next, the sliding surface is further differentiated according to the steady-state error. Through this differentiation process, the derivative expression of the sliding surface can be obtained. This expression clearly shows the relationship between the change rate of the sliding surface and the steady-state error, providing an important basis for subsequent control adjustment. Through this dynamic adjustment, it can be ensured that the sliding surface can quickly stabilize after reaching the sliding surface, and the tracking error can converge to the preset value.

[0033] In addition, to further optimize the control effect, the sliding surface after converging to the preset value is processed by Laplace transform, which can more accurately analyze the steady-state behavior of the system. Through further frequency-domain analysis of the Laplace transform, the value of the steady-state error can be obtained, so that the steady-state error of the system can be accurately calculated, and the control parameters can be adjusted accordingly to achieve more accurate path following.

[0034] The implementation of step S2 not only improves the path following accuracy of the magnetic levitation underwater robot base in a complex underwater environment, but also significantly enhances the stability and reliability of the system. By introducing the form of Laplace transform and first-order filter, it is possible to more effectively process the noise and interference in the dynamic process, thus achieving smoother motion control.

[0035] In summary, the present invention focuses on the technical field of magnetic levitation underwater robots and proposes an innovative path following control method aimed at significantly improving the motion control performance of the robot in a complex underwater environment. This method analyzes the constructed intelligent control system integrating electromagnetic drive, high-precision positioning feedback, and dynamic modeling to achieve precise path following control of the magnetic levitation underwater robot base. The core of this method lies in further combining the Lyapunov stability theory and the sliding mode control (SMC) principle to design a non-linear control strategy that can effectively resist external interference, ensuring that the robot base operates stably and efficiently along the predetermined trajectory in a complex underwater environment.

[0036] Specifically, first, the position information of the robot base in space is obtained in real time through a locator, and its kinematic model is established based on physical principles. This model comprehensively considers key factors such as magnetic force and viscous resistance, providing a solid theoretical basis for subsequent control strategies. By introducing the sliding mode control principle, a sliding surface is designed so that the tracking error can converge to zero on the sliding surface, thus achieving high-precision path following. Further, the sliding surface is processed by mathematical tools such as Laplace transform to optimize the smoothness and response speed of the control signal, significantly improving the stability and reliability of the system.

[0037] Compared with the prior art, the beneficial effects of the present method are reflected in: 1. Through precise dynamic modeling and advanced control strategies, the path following accuracy of the magnetic levitation underwater robot base is significantly improved, enabling it to stably track the desired motion trajectory in a complex underwater environment. 2. The introduction of the sliding mode control principle and Laplace transform processing not only enhances the anti-interference ability of the system but also improves the response speed and stability of the control system. 3. This method also effectively reduces the path deviation caused by external factors such as water flow and obstacles, enhancing the adaptability and flexibility of the robot in a dynamic environment.

[0038] Generally speaking, the path following control method of the magnetic levitation underwater robot not only has innovation in theory but also shows significant advantages in practical applications. Through optimized control strategies and system architectures, it provides a more reliable solution for the application of magnetic levitation underwater robots in fields such as ocean resource exploration and environmental monitoring, with broad application prospects and market value.

[0039] Please refer to Figure 3 , the second embodiment of the present invention provides a path following control device for a magnetic levitation underwater robot, which includes: A kinematic model establishment unit 101, configured to obtain the position of the magnetic levitation underwater robot base collected by the locator in space, and establish a kinematic model of the magnetic levitation underwater robot base according to the position of the magnetic levitation underwater robot base in space and physical principles; A steady-state error calculation unit 102, configured to calculate the steady-state error of the position of the magnetic levitation underwater robot base based on the Lyapunov stability theory, the position of the magnetic levitation underwater robot base in space, and the kinematic model of the magnetic levitation underwater robot base, and adjust the position of the magnetic levitation underwater robot base according to the steady-state error, so that the magnetic levitation underwater robot base can move stably along the desired path.

[0040] The third embodiment of the present invention provides a path following control device for a magnetic levitation underwater robot, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the path following control method of the magnetic levitation underwater robot as described in any one of the above.

[0041] The fourth embodiment of the present invention provides a readable storage medium, which stores a computer program that can be executed by the processor of the device where the storage medium is located to implement the path following control method of the magnetic levitation underwater robot as described in any one of the above.

[0042] Exemplarily, each of the above-mentioned devices and each of the process steps can be implemented by a computer program, which can be divided into one or more units. The one or more units are stored in the memory and executed by the processor to complete the present invention.

[0043] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0044] The memory can be used to store the computer program and / or module. By running or executing the computer program and / or module stored in the memory, and by calling the data stored in the memory, the processor realizes various functions of the present invention. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, phone book, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0045] Among them, if the unit integrated in the electronic device or printer is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0046] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that they have a communication connection, which can be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement it without creative effort.

[0047] The above is the preferred implementation manner of the present invention. It should be pointed out that for those of ordinary skill in the art in the technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A path following control method for a magnetically suspended underwater robot, characterized in that: include: Obtain the position of the magnetic levitation underwater robot base in space collected by the locator, and establish a kinematic model of the magnetic levitation underwater robot base according to the position of the magnetic levitation underwater robot base in space and the principles of physics; Based on Lyapunov stability theory, the position of the magnetic levitation underwater robot base in space and the kinematic model of the magnetic levitation underwater robot base, the steady-state error of the position of the magnetic levitation underwater robot base is calculated, and the position of the magnetic levitation underwater robot base is adjusted according to the steady-state error so that the magnetic levitation underwater robot base can move stably along the desired path.

2. The path following control method of a magnetically suspended underwater robot according to claim 1, characterized in that: The kinematic model of the magnetic levitation underwater robot base is established according to the position of the magnetic levitation underwater robot base in space and the principles of physics, specifically: According to Newton's second law, the relationship between the magnetic force and mass of the magnetic levitation underwater robot base during movement is determined as follows: ,in, is the mass of the magnetic levitation underwater robot matrix, is the position of the magnetic levitation underwater robot base in space, is the disturbance that the magnetic levitation robot experiences in the environment. For magnetic force, is the viscous resistance; Based on Newton's second law, the magnetic force is analyzed in three-dimensional space. ,in, is the magnetic moment, is the magnetic flux density of the magnetic field, is the gradient operator, used to calculate the gradient of the field in space; According to Stoke's law, the viscous resistance of the magnetic levitation underwater robot when it moves in the solution medium is determined ,in, is the viscosity coefficient of the liquid, is the radius of the particle, is the moving speed of the magnetic levitation underwater robot base; The relationship between the magnetic field force and the horizontal distance between the magnetic levitation underwater robot and the magnetic field center is approximated as a linear relationship, and its mathematical expression is: ,in, for Horizontal distance The relationship coefficient after linearization, is the total magnetic force on the magnetically levitated underwater robot in three-dimensional space, For robots Direction of magnetic force, For robots Direction of magnetic force, For robots Direction of magnetic force, is the transpose symbol, is the current flowing in the electromagnetic coil, is the critical value of the horizontal distance between the electromagnetic drive and the robot. Once this critical value is exceeded, the magnetic field force will decrease as the distance increases; Set horizontal distance , and based on the above formula, the kinematic model of the magnetic levitation underwater robot base is obtained: ,in, is the position of the central axis of the magnetic field in the plane, is the position of the magnetic levitation underwater robot base on the plane, is the Stokes drag coefficient, For disturbance.

3. The path following control method of a magnetically suspended underwater robot according to claim 2, characterized in that: Based on Lyapunov stability theory, the position of the magnetic levitation underwater robot base in space and the kinematic model of the magnetic levitation underwater robot base, the steady-state error of the position of the magnetic levitation underwater robot base is calculated, specifically: According to the SMC principle, the synovial surface is set to ,in, is a constant, represents the tracking error, is the desired position of the magnetic levitation underwater robot base, on the synovial surface At , the tracking error converges to zero; The kinematic model of the magnetic levitation underwater robot base is rewritten into exponential form: ,in, , , is the actual position of the magnetic levitation underwater robot base, For the controller; Substitute the synovial surface formula into the exponential kinematic model and derive it to obtain the derivative of the synovial surface: ,set up ,get ,in, is the thickness of the synovial surface, is a saturation function.

4. The path following control method of a magnetically suspended underwater robot according to claim 3, characterized in that: Also includes: When judging hour, , select the Lyapunov function , and substitute the derivative of the synovial surface into the Lyapunov function and take the derivative to obtain: ,in, Control the approach law for the synovium; in, , Heng established, ,at this time The minimum value of , the synovial surface can reach the synovial surface in a limited time, is the frequency in the sinusoidal disturbance, For time.

5. The path following control method of a magnetically suspended underwater robot according to claim 4, characterized in that: Also includes: After reaching the synovial surface, , , Laplace transform is performed on the synovial surface to obtain ,in, is the output of the first-order filter; According to the steady-state error and Further derivative of the synovial surface is obtained ,in, Synovial surface The value at steady state; Will Converge to the preset value ,at this time, , Laplace transform is performed on the derived sliding membrane surface to obtain , ,in, For disturbance The Laplace transform of For disturbance The value at steady state; Will Substituting the steady-state error The steady-state error is: .

6. A path following control device for a magnetically suspended underwater robot, characterized in that: include: A kinematic model building unit is used to obtain the position of the magnetic levitation underwater robot base in space collected by the locator, and to build a kinematic model of the magnetic levitation underwater robot base according to the position of the magnetic levitation underwater robot base in space and the principle of physics; The steady-state error calculation unit is used to calculate the steady-state error of the position of the magnetic levitation underwater robot base based on Lyapunov stability theory, the position of the magnetic levitation underwater robot base in space and the kinematic model of the magnetic levitation underwater robot base, and adjust the position of the magnetic levitation underwater robot base according to the steady-state error so that the magnetic levitation underwater robot base can move stably along the desired path.

7. A path following control device for a magnetically suspended underwater robot, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the path following control method of a magnetically levitated underwater robot as claimed in any one of claims 1 to 5 is implemented.

8. A readable storage medium, characterized in that: A computer program is stored, and the computer program can be executed by a processor of the device where the storage medium is located to implement the path following control method of a magnetically levitated underwater robot as described in any one of claims 1 to 5.

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