Anti-flow disturbance control method for quadrotor underwater robot based on adaptive strategy
By establishing a six-degree of freedom dynamics and kinematics model and implementing an adaptive strategy, the four-rotor underwater robot can effectively resist water flow disturbances, solving the problem of complex and high cost resistance to water flow disturbances in the existing technology, and achieving low-cost and efficient control effects.
Patent Information
- Application Number
- CN202211410401.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-11-08
- Publication Date
- 2025-03-21
- Estimated Expiration
- 2042-11-08
AI Technical Summary
The prior art is difficult to effectively resist water flow disturbances, resulting in the quadrotor underwater robots being unable to move forward steadily in turbulent water flows, and the traditional anti-interference strategy is complex and costly.
The anti-water flow disturbance control method of four-rotor underwater robot based on adaptive strategy is adopted. By establishing a six-degree of freedom dynamics and kinematics model, the mapping relationship between the hydrodynamic coefficient and attitude angle, forward speed and water flow velocity are obtained, and the rapid adaptation mode and periodic calibration mode are realized for adaptive adjustment.
It realizes low-cost and efficient anti-water flow disturbance control in different environments, reduces design complexity and cost, and improves the adaptability and working efficiency of the robot.