Control method, control system, and apparatus for underwater robots

Abstract

This invention relates to the field of attitude control for underwater robots, and more specifically to control methods, control systems, and apparatus for underwater robots. [Solution] The present invention includes comparing the motion tendencies of an underwater robot between different directions based on motion direction progression elements to obtain a motion state, constructing a progression sequence for the main mechanical motion direction of the underwater robot, analyzing the progress in the main mechanical motion direction within a preset local time range in the progression sequence for the main mechanical motion direction, comparing abnormal changes in motion direction progression elements between different main mechanical motion directions to obtain a category for adjustment of the core machinery, and analyzing the situation of motion direction progression elements to be adjusted within the same category for adjustment of the core machinery to perform attitude control. The present invention adapts the proportional gain of the PID controller to the requirements of the underwater environment and makes the control of the underwater robot during underwater work more accurate.

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