236 results about "Attitude control system" patented technology

The present invention provides a flight attitude control method based on inertial navigation technology, which relates to the field of aircraft control technology and includes an attitude control system. The attitude control system includes a quantum inertial navigation fusion module, a distributed multi-source collaborative inertial navigation module, a real-time error compensation module based on deep learning, an energy collection and self-powered inertial system module, a distributed attitude data management module based on blockchain, a multimodal fusion and virtual twin collaborative control module, and a terahertz communication and inertial navigation fusion anti-interference module. The present invention uses a quantum annealing algorithm combined with a compressed sensing algorithm to optimize quantum sensor data, and then combines the D-S evidence theory and the particle swarm optimization algorithm in the distributed multi-source collaborative inertial navigation module to fuse multi-source data, which can deeply mine the deep connection and complementary information between different sensor data, break the simple data level superposition limitation, and greatly improve the accuracy of the attitude information after fusion.

The invention discloses an online efficient load shedding control method based on a forecast wind field. The method comprises the following steps: firstly, acquiring a load attack angle and a sideslip angle which are calculated in real time on a rocket; amplitude limiting processing is carried out on the load attack angle and the sideslip angle, an attack angle control instruction is generated after gain control network calculation is carried out, and an attitude control system carries out direct attack angle control in a load sensitive area in combination with the load shedding requirement and the guidance deviation correction capacity; and pitching and yaw feedback control instructions are generated, active load shedding control is implemented, and errors generated by attack angle control are compensated. The on-line active and passive load shedding mode covers the real deviation or interference influence during flight, the generated load shedding instruction is better matched with the actual flight, the universality is good, the implementation is easy, and the load shedding effect is better.

The invention belongs to the technical field of unmanned aerial vehicles and flight control thereof, and discloses a variable-pitch multi-rotor unmanned aerial vehicle and a flight attitude control method thereof. Wherein the variable-pitch multi-rotor unmanned aerial vehicle is provided with an active-disturbance-rejection attitude control system, the active-disturbance-rejection attitude control system is provided with a rolling control loop, a pitching control loop and a yawing control loop, and each control loop comprises an extended state observer, a differential tracker and a nonlinear state error feedback. And when the control parameters are optimized, the control parameters are optimized by using an improved cumberfish optimization algorithm, and a dynamic updating strategy of the improved cumberfish optimization algorithm adopts a cumberfish position updating rule based on a variable spiral sine-cosine strategy. According to the technical scheme, the technical problem that control parameters of the unmanned aerial vehicle are difficult to adjust due to factors such as model uncertainty, external interference and nonlinear coupling characteristics caused by variable-pitch rotors in a complex dynamic environment is solved, and the flight performance of the unmanned aerial vehicle can be improved.

The invention provides an insulator pollution grade evaluation method based on multispectral analysis, and relates to the technical field of data analysis, and the insulator pollution grade evaluation process comprises the steps of precise alignment of a camera carried by an unmanned aerial vehicle body, multispectral camera image collection, image processing and image evaluation. The unmanned aerial vehicle body master control comprises a flight path control system, a flight attitude control system and an automatic navigation positioning calculation system, the unmanned aerial vehicle is used for carrying a multispectral camera, the multispectral camera is installed in the center of the unmanned aerial vehicle, and meanwhile a temperature detection probe and a time degree detection probe are installed on the two sides of the unmanned aerial vehicle respectively. The unmanned aerial vehicle can acquire the height image of the insulator in advance, then the unmanned aerial vehicle calculates the vertical horizontal difference from the unmanned aerial vehicle to the insulator through the automatic navigation positioning calculation system, and the unmanned aerial vehicle flies to the periphery of the insulator after accurately acquiring the position information of the insulator, so that manual information acquisition is replaced.

The invention discloses a disk sweeping posture self-adaptive adjusting system and method based on a visual system and a storage medium. The disk sweeping posture self-adaptive adjusting method comprises the steps that S1, disk sweeping posture information is obtained; s2, the visual processing unit collects disk scanning attitude information and road surface information in real time by using a visual sensor arranged on the visual processing unit, and provides real-time disk scanning attitude data for the control system; s3, the control system receives the current disk scanning attitude data, calculates the deviation between the current disk scanning attitude data and the preset optimal disk scanning attitude data according to an intelligent algorithm, and issues a deviation correction instruction; s4, the multi-degree-of-freedom disk sweeping posture adjusting device adjusts the disk sweeping posture according to the deviation rectifying instruction; and S5, the control system judges whether the disk sweeping brush reaches the optimal posture according to the received disk sweeping posture real-time information, if not, the deviation is continuously calculated, a deviation correction instruction is issued, and if yes, deviation correction adjustment is ended. The sweeping postures of the sweeping disc are adjusted according to the road surface state and the sweeping abrasion degree, and the sweeping effect is improved.

The invention relates to a dynamic modeling method for an attitude control system under a dynamic fault. The method comprises the following steps: determining a modeling hypothesis of a nonlinear dynamic model; establishing a coordinate system used for modeling; rocket configuration parameters and engine related parameters are obtained; building displacement and acceleration descriptions of the three types of structures on the rocket; establishing a rigid body translation equation, a rigid body rotation equation, a rocket body elastic vibration equation, a propellant shaking equation and a sensitive element measurement equation; summarizing the five established equations to form a nonlinear dynamic equation set; and performing small-disturbance linearization expansion on the nonlinear dynamic equation set on the basis of the nominal reconstructed trajectory to obtain a linearized small-deviation equation set suitable for controller design and stability analysis. According to the method, the influence of the thrust drop fault is comprehensively considered, and the model can be used for carrying out relatively accurate dynamic response analysis and reconstruction scheme design under the fault.

A satellite for software-defined satellite imagery includes an optical assembly. The satellite further includes an attitude control system. The attitude control system is configured to control an orientation of the satellite such that the optical assembly slews across a ground track of the satellite. The satellite further includes a set of image sensors configured to capture an image using light directed to the set of image sensors at least in part by the optical assembly.

The invention discloses a multifunctional electric propulsion system of a spacecraft, and relates to the technical field of space propulsion systems. The multifunctional electric propulsion system comprises a gas cylinder module, a fluid management module and a thruster module. The downstream of the gas cylinder module is connected with the fluid management module; the downstream of the fluid management module is connected with the thruster module; the thruster module comprises a Hall thruster, an electric heating type thruster and a cold air thruster. The low-cost working medium gas is utilized, the attitude control system and the orbit control system of the satellite are integrated through modular design and heat flow design, the design and manufacturing difficulty of the satellite is lowered, the launching cost of the satellite is reduced, and meanwhile the integrated control system is combined with an orbit control algorithm, so that intelligent control over the satellite can be achieved.

The invention belongs to the technical field of aerodynamic wind tunnel tests, and discloses a test device and method for a dynamic derivative wind tunnel test, and the device comprises an aircraft model which is formed by assembling a nose, a middle fuselage, a rear fuselage, a balance, wings and an empennage; the oscillation mechanism is provided with an adapter, and the adapter is connected with the balance; and one end of the wind tunnel strut is connected with the wind tunnel attitude control system and the other end is connected with the oscillation mechanism. The problem that an existing dynamic derivative wind tunnel test model and a test device are low in efficiency is solved, heaving, sidesway, yawing, pitching and rolling oscillation of the model are achieved by replacing the adapters, and the test efficiency of a dynamic derivative wind tunnel test can be effectively improved.

The invention relates to the technical field of verification and evaluation, in particular to a reusable rocket attitude control system redundancy verification and fault tolerance evaluation method, which comprises the following steps: performing multi-dimensional combination on disturbance units according to disturbance types, action time periods and intensity grades to form a disturbance combination set, constructing a group of induction task profiles covering different attitude control abnormal situations; recording a switching state of an internal control path of the attitude control system, a redundant component intervention time sequence and a function takeover sequence in real time, and constructing a dynamic response path map of a redundant link; and generating a response integrity index and a fault tolerance conflict degree criterion of redundancy configuration as a fault tolerance capability evaluation result of the attitude control system. Compared with an existing method which only verifies individual static disturbance scenes, the method has the advantages that systematic design and composite excitation of disturbance conditions can be realized, scene complexity and coverage of redundancy verification are enhanced, and authenticity and representativeness of fault-tolerant testing are improved.

The invention provides a power transmission line tower body assembly positioning and hoisting attitude control method in a desert environment, and relates to the technical field of power transmission engineering construction, and the method comprises the steps: obtaining power transmission line tower body structure parameters and desert environment parameters, the desert environment parameters comprise geological conditions, wind speed and wind direction; establishing a laser positioning reference system, wherein the laser positioning reference system comprises three laser emitting devices with angle and distance sensors; the tower body sections are assembled and positioned, space coordinates are established through laser marking projection, and the positions are corrected through a self-adaptive algorithm; installing an inertial measurement unit; establishing a hoisting attitude control system which comprises a main arm crane, an auxiliary crane and a tensioning device; in the hoisting process, the center-of-gravity offset is calculated based on the attitude data, and each device is controlled to realize attitude stabilization; and finally, curing materials are injected into the tower body foundation to complete installation.

The invention discloses a satellite attitude control system fault detection method and device and a medium, and the method comprises the steps: introducing a diffusion model to carry out the preprocessing of an original data set before a fault diagnosis task is executed through employing a neural network, carrying out the focusing training of an efficient diffusion model, generating scarce minority class samples through employing the model, and carrying out the fault diagnosis of a satellite attitude control system. The problem of category imbalance generally existing in satellite attitude control system data is effectively solved, and the strong data processing capacity of the diffusion model is also utilized. Based on the balanced training set, the adaptive one-dimensional convolutional neural network is further combined, complex time sequence data is efficiently processed, key fault information is mined, and the accuracy and reliability of fault diagnosis of the satellite attitude control system are improved.

The invention relates to the technical field of gyroscopes, and provides an attitude control system and method based on a gyroscope, and the method comprises the following steps: collecting angular velocity data, acceleration data and azimuth angle data of a target object in a three-dimensional space, and carrying out filtering processing on the collected angular velocity data to obtain a filtered angular velocity value; and inputting the filtered angular velocity value into a preset dynamic attitude model to generate an initial attitude estimation value, correcting the initial attitude estimation value by using the acceleration data and the azimuth angle data to obtain an attitude error value, and analyzing the attitude error value to generate an attitude control signal. Through multi-source fusion processing of angular velocity data, acceleration data and azimuth angle data, the accuracy of attitude control signals is improved, real-time response and stability in a complex dynamic environment are realized, and the problem that in a rapidly changing complex environment, noise interference easily causes inaccuracy or delay of attitude adjustment instructions is solved. The problems of poor real-time performance and weak stability of attitude estimation exist.

The invention relates to the technical field of low-altitude aircraft attitude control, in particular to a low-altitude aircraft attitude control system based on intelligent information data analysis. The method comprises the following steps: a data acquisition and storage unit acquires aircraft data and environmental parameter data; the intelligent information analysis unit analyzes the real-time attitude of the aircraft by using a nonlinear dynamics technology and a singular perturbation theory technology, and judges whether the aircraft is in a safe state or not by using a singular perturbation analysis technology; the single aircraft control unit generates an optimal control strategy by using a linear quadratic regulator in combination with an advanced attitude control algorithm; the multi-aircraft control unit adopts a distributed control strategy to control coordinated flight among the aircrafts; and the control display terminal unit is used for providing an integrated human-computer interaction interface. According to the low-altitude aircraft attitude control system based on intelligent information data analysis, nonlinear dynamics and singular perturbation theories are combined, and cooperative flight control of a single aircraft or multiple aircrafts is realized by adopting a distributed control architecture.

The present invention provides a method and system for optimizing the electric propulsion orbit transfer strategy for low-Earth orbit satellite constellation networking, including: Step 1: Based on the engineering constraints of only two states of on and off according to the thrust magnitude of the electric propulsion, establish an optimization problem of the time-optimal constellation networking electric propulsion transfer orbit; Step 2: Divide the networking process into stages, and perform phased parameterization on the thrust magnitude and direction; Step 3: Determine the variables to be solved, and convert the optimization problem of the constellation networking electric propulsion transfer orbit into a shooting problem with constrained control variables; Step 4: Guess the initial value of the shooting problem, and use the Newton iteration algorithm to solve it, and finally obtain the optimal solution of the optimization problem of the constellation networking electric propulsion transfer orbit. The present invention can ensure that the transfer orbit meets the preset networking constraints, has low requirements for the attitude control system, has a simple structure, high solution efficiency, is conducive to on-board implementation, and can effectively realize the joint control of orbital elements.

The invention provides an STM32-based autonomous underwater robot intelligent attitude control system and method, and relates to the technical field of underwater robot control, and the system comprises a sensor integration module which is used for collecting robot state data and environment data, a model construction module which is used for outputting a state estimation value and a disturbance force prediction value, and a control module which is used for controlling the state estimation value and the disturbance force prediction value. The fuzzy control module is used for determining the PID parameter adjustment amount according to the target attitude and the state estimation value, performing feed-forward compensation in combination with the disturbance force prediction value, and generating an attitude control instruction; the electric quantity monitoring module is used for sending a charging trigger signal, the fuzzy control module is further used for controlling the underwater robot to be in a charging posture according to the charging trigger signal, and the charging module is used for charging the power supply module when the wave energy power generation device reaches the optimal power generation position and sending a re-navigation signal to the fuzzy control module after charging is completed. According to the invention, the problems of low attitude control precision and low reliability of the underwater robot in the prior art are solved.

Systems and methods are provided for guiding movement of a tool. The system includes a tool and a manipulator. A guide handler obtains a target state for the tool and generates virtual constraints based on the target state and a current state of the tool. A constraint solver calculates a constraint force adapted to attract the tool toward the target state or repel the tool away from the target state based on the virtual constraints. A virtual simulator simulates dynamics of the tool in a virtual simulation based on the constraint force and input from one or more sensors, to output a commanded pose. The control system commands the manipulator to move the tool based on the commanded pose to thereby provide haptic feedback to the user that guides the user toward placing the tool at the target state or away from the target state.

An aeronautical vehicle performs horizontal flight and / or vertical flight, and has a fuselage, a wing assembly having a first wing part and a second wing part rigidly coupled to one another, a rotor assembly, a horizontal thruster, and an attitude control system. The wing assembly is arranged rotatably with respect to the fuselage to rotate about a vertical pivot axis between a stow position and an active position. The rotor assembly includes two vertical thrust rotors arranged on a rotor support rotatably with respect to the fuselage to rotate the rotor assembly between a stow position and an active position. In a horizontal flight mode the wing assembly is in the active position and the rotor assembly is in the stow position, and in a vertical flight mode the wing assembly is in the stow position and the rotor assembly is in the active position.

The present invention relates to the field of marine technology and engineering, and in particular to a floating wind power platform attitude control system. The present invention effectively controls the attitude of the floating wind power platform through the mutual cooperation between a measurement system, a control system, and a platform attitude control system, thereby providing good protection for the safe and stable operation of the floating wind turbine. At the same time, the platform attitude control system is provided with a second tidal energy power generation system to provide electrical energy for the electrical connection between the various systems, without additionally consuming the energy of the floating wind turbine, thereby improving resource utilization.

The invention provides a fire-fighting unmanned aerial vehicle attitude control system and a control method thereof, and relates to the technical field of fire-fighting unmanned aerial vehicle attitude control. A sensing terminal, a measuring terminal, a lateral rotor wing and a control terminal are arranged on the unmanned aerial vehicle; determining a target spraying position of the fire extinguishing medium based on the sensing terminal; the medium flow of a fire extinguishing medium in the fire gun and the heat convection vector force in the environment horizontal plane are measured based on the measuring terminal; reverse thrust is provided in the spraying direction of the fire extinguishing medium based on the lateral rotor wings; the control terminal determines the current muzzle position of the fire gun on the horizontal plane according to the medium flow and the heat convection vector force; determining the spraying position deviation of the fire gun according to the current muzzle position and the target spraying position; and the magnitude and direction of reverse thrust provided by the lateral rotor wings are controlled according to the jetting position deviation, so that the muzzle position of the fire gun when the fire gun executes a fire extinguishing task is corrected. The fire extinguishing efficiency of a fire scene and the completion quality of a fire extinguishing task are improved.

The invention discloses a large seaplane integrated with a distributed electric propulsion technology and a propulsion method, and relates to the technical field of seaplane. Comprising a fuselage, a left wing and a right wing are arranged on the two sides of the fuselage respectively, and a V-shaped hull is arranged at the lower end of the fuselage; and a T-shaped empennage is arranged at the tail part of the fuselage. Through the synergistic effect of the design of the V-shaped ship body and the distributed propulsion system, the whole ship body makes contact with the water surface to provide sufficient buoyancy at the low speed, only the main sliding face makes contact with the ship body to form an air layer at the high speed, and the air film drag reduction effect of a propeller at the bottom of the ship body is matched, so that the water resistance is reduced by 35%-50%, and the draft is reduced by 40%-60% along with speed increase; the problems that a traditional seaplane is large in water resistance and difficult to leave water are effectively solved, meanwhile, the left buoy and the right buoy are in linkage with the attitude control system, wave disturbance can be counteracted in real time, the transverse inclination angle is controlled within 1 degree, the wave resistance is improved to be capable of coping with waves with the height of 1.5 m, and the defects that a traditional seaplane is poor in wave resistance and has strict requirements for taking-off and landing water areas are overcome.

The invention provides a self-adaptive integral concurrent learning consistency control method for an unmanned aerial vehicle cluster, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: building an unmanned aerial vehicle attitude dynamic model suffering from a hostile attack; a compensation variable and a first-order filter are introduced, and a coordinate conversion equation is established in combination with an adaptive dynamic surface control technology; an attack compensator is designed for online estimation and counteracting the influence of spoofing attacks on the system; an integral concurrent learning strategy and an event triggering control mechanism are fused, a memory event triggering interval type-2 fuzzy integral concurrent learning-based security consistency controller is designed, and the stability of a closed-loop attitude control system is analyzed based on a Lyapunov stability theory. Under the condition of limited excitation, the leadless attitude asymptotic consistency control under the unmanned aerial vehicle cluster spoofing attack is realized, the safety control problem under the condition that communication resources are limited in actual engineering application is effectively solved, and the robustness and the control precision of the unmanned aerial vehicle when the unmanned aerial vehicle is subjected to network attack are remarkably improved.

The invention discloses an electric aircraft cross compass attitude control system, and relates to the technical field of unmanned aerial vehicle attitude control, the electric aircraft cross compass attitude control system comprises # imgabs 0 # rotor motors and further comprises an annular base frame, and # imgabs 1 # rotor motors form an annular array based on the annular base frame; a controller; and the driving mechanism is used for receiving the driving electric signal of the controller and adjusting the position of the rotor motor. According to the cross compass attitude control system of the electric aircraft, when the function of the rotor motor is abnormal or damaged through automatic monitoring, the abnormal or damaged rotor motor is abandoned, and the position or the rotating speed of the rotor motor is correspondingly adjusted based on a corresponding strategy, so that the rotor motor annularly moves relative to the annular base frame; according to the invention, the attitude basis conforming to aerodynamics is reconstructed to optimize lift distribution to compensate imbalance, so that the aircraft can stably fly to the maximum extent in an extreme environment, high controllability is kept, and a better use prospect is brought.

The invention provides an attitude control system for a short-wave satellite, and relates to the technical field of data processing, and the attitude control system comprises the steps: inputting a three-axis synthesis control torque instruction into a reaction flywheel controller, converting the instruction into a flywheel motor rotating speed adjustment instruction, and driving a reaction flywheel to execute; adjusting and analyzing the continuously updated attitude deviation angle based on the actual attitude change after the execution of the driving reaction flywheel, obtaining the updated gain parameter of the sliding mode controller, and feeding back the parameter of the updated sliding mode controller; performing control based on the updated parameters of the sliding mode controller, performing direction consistency verification on a newly output sun direction vector measurement value, and verifying an actual included angle; if the actual included angle is smaller than the preset precision threshold value, a new round of data acquisition cycle is triggered, and closed-loop control is achieved. According to the invention, the timeliness and effectiveness of attitude control are ensured, and the control efficiency and reliability are improved.

The invention relates to the technical field of underwater vehicle control, in particular to an underwater vehicle attitude active-disturbance-rejection control method, system and equipment and a medium, which can construct a dynamic model, enable linear active-disturbance-rejection to be suitable for underwater vehicle attitude control and enable the active-disturbance-rejection control method to be more suitable for the engineering field. According to the method, the linear active-disturbance-rejection control theory developed on the basis of nonlinear active-disturbance-rejection control is adopted, the control system parameters are reduced to two, namely the controller bandwidth and the extended state observer bandwidth, the complexity of the control system is reduced, the number of the control parameters is reduced, engineering implementation is facilitated, a good control effect is achieved, and the method is suitable for large-scale popularization and application. The method is more suitable for the field of aircraft control system engineering application, and the design problem of an underwater aircraft attitude control system is solved.

The invention provides a flight attitude stability control method for an unmanned aerial vehicle with arms, and the method comprises the steps: S1, building an attitude kinematic model of the unmanned aerial vehicle according to an unmanned aerial vehicle model; s2, according to the attitude kinematics model of the unmanned aerial vehicle, establishing an attitude kinematics model of the unmanned aerial vehicle with the arm; and S3, establishing an adaptive control model, adjusting parameters of the attitude kinematics model of the unmanned aerial vehicle with the arm in real time, and performing attitude control on the unmanned aerial vehicle with the arm. Mechanical arm interference is introduced into the unmanned aerial vehicle attitude control system, the environment interaction capability of the unmanned aerial vehicle with the arm is greatly improved, and the real-time performance and stability of the system are enhanced.

The invention relates to a high-precision autonomous hoisting attitude control system and method based on an SLAM (Simultaneous Localization and Mapping) technology, which are used for constructing an environment map in real time and determining the position and attitude of goods by combining a camera, an IMU (Inertial Measurement Unit) and a LiDAR (LiDAR). The main controller carries out vision-inertia-LiDAR SLAM algorithm calculation according to data provided by the sensors, and the precision of attitude estimation is improved by adopting a multi-sensor fusion technology. And the autonomous control system autonomously adjusts the posture of the cargo according to the posture information provided by the vision-inertia-LiDAR SLAM algorithm so as to prevent collision. By means of the innovative design, the safety and precision of hoisting are remarkably improved, and the hoisting device is particularly suitable for hoisting operation of light-weight and high-value goods in narrow spaces and unknown environments.

The invention discloses a control system for unmanned aerial vehicle low-altitude inspection of a power transmission line, and relates to the technical field of unmanned aerial vehicle inspection, and the control system comprises an attitude control system which utilizes a power system to change the flight attitude of an unmanned aerial vehicle; the image acquisition system acquires surrounding environment images in the flight process of the unmanned aerial vehicle and generates auxiliary images; measurement of the height of a tower pole, the length of a cable and the distance between the unmanned aerial vehicle and a feature point is realized through multi-sensor fusion; according to the positions, calculated by the image processing system, of the distance feature points of the unmanned aerial vehicle, flight attitude changes of the unmanned aerial vehicle at different positions are determined, and the flight attitude adjustment data of the unmanned aerial vehicle are changed by combining the relation between the multiple feature points and the distance of the unmanned aerial vehicle. According to the invention, the position of the unmanned aerial vehicle is further corrected by using the environmental characteristics, and it is ensured that the unmanned aerial vehicle can complete accurate inspection in an electromagnetic interference area.

The present invention relates to the technical field of spacecraft fault diagnosis, and specifically discloses a neural adaptive sliding mode observer design method for satellite attitude control system fault estimation, including taking into account concurrent actuator, sensor faults and constraints, performing equivalent transformation on the attitude control system; establishing a continuous time constrained equivalent uncertainty description system; adding a fuzzification layer and a fuzzy reasoning layer to a hyperbasis function neural network to obtain an expression for uncertainty obtained by the fuzzy hyperbasis function neural network; designing a neural adaptive sliding mode observer based on an improved fuzzy hyperbasis function neural network, solving the observer gain matrix using linear matrix inequalities, and achieving better concurrent fault estimation based on better uncertainty estimation. The present invention adopts the above-mentioned neural adaptive sliding mode observer design method for satellite attitude control system fault estimation, solves the concurrent fault estimation problem of the satellite attitude control system under complex constraints, and improves the accuracy of fault estimation.

The invention relates to the technical field of underwater vehicle control, and discloses a undulating fin robot control method based on a residual MLP and an active disturbance rejection controller, and the method comprises the steps: obtaining the state information of a robot through a kinematics and dynamics model; a non-linear tracking differentiator is adopted to generate a smooth reference signal, disturbance such as ocean current and density change is estimated in real time in combination with an extended state observer, and high-precision depth tracking is achieved through a state error feedback controller. The attitude control system fuses a PID controller and a depth factor adjustment mechanism, and dynamically optimizes control parameters to maintain attitude stability; a fin ray cooperative control strategy is put forward, the swing amplitude and the offset angle are adjusted, output torque is adjusted in combination with a depth factor, and propulsion performance fluctuation caused by water pressure changes is solved; the depth and attitude control parameters are optimized by using the residual MLP, the nonlinear fitting capability is enhanced through the residual block structure, the parameter setting efficiency is improved under the finite computing power, and an efficient and reliable technical scheme is provided for ocean exploration and ecological monitoring.