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Underwater robot depth control device based on linear active disturbance rejection technology and method thereof

An underwater robot, linear active disturbance rejection technology, applied in the direction of height or depth control, can solve the problems of difficult real-time control, long system response time, etc., and achieve simple and easy control method, good robustness and dynamic characteristics, The effect of high practical value

Inactive Publication Date: 2013-11-27
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The literature "Robust H_∞ Control Simulation of Autonomous Underwater Robot Depth" introduces a robust control strategy. It has good dynamic performance and strong system robustness, but the system response time is too long and it is difficult to realize real-time control

Method used

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  • Underwater robot depth control device based on linear active disturbance rejection technology and method thereof
  • Underwater robot depth control device based on linear active disturbance rejection technology and method thereof
  • Underwater robot depth control device based on linear active disturbance rejection technology and method thereof

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Effect test

Embodiment 1

[0037] see figure 1 , the underwater robot depth control device based on linear active disturbance rejection technology, the sensor 5 is installed on the bottom of the underwater robot 1, the computer 3 is connected to the underwater robot 1 through the cable 2, the control board 4 is installed on the control motor, based on the linear automatic The depth control method of the anti-disturbance technology is stored inside the control board 4 . The sensor 5 installed on the underwater robot 1 is connected with the control board 4 on the computer 3 through the cable 2 to realize reading of relevant data, central data interaction function and system power supply. The control board 4 uses the depth control method of the linear active disturbance rejection technology to perform control calculation, output control instructions, and the actuator of the underwater robot 1 executes the control instructions to complete the depth motion control of the underwater robot 1 .

Embodiment 2

[0039] see

[0040] attached figure 2 And attached image 3 , the underwater robot depth control method based on linear active disturbance rejection technology, using the above-mentioned device for operation, the specific implementation steps can be expressed as:

[0041] 1) The underwater robot 1 is initialized, and the initialization of the underwater robot 1's position, attitude and sensor 5 is completed;

[0042] 2) The control board 4 accepts the task instruction, performs task planning, and sends the planning result to the computer 3

[0043] 3) The sensor 5 acquires depth, speed, attitude angle information;

[0044] 4) The control computer 3 receives the feedback information from the sensor 5 and the task information, and uses the depth control method based on the linear active disturbance rejection technology to perform control calculations. The desired depth of the underwater robot 1 is used as the input signal of the tracking differentiator 6, and each sensor Th...

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Abstract

The invention discloses an underwater robot depth control device based on linear active disturbance rejection technology and a method thereof. The device includes an underwater robot, a cable, a computer, a control board and a sensor. The lower portion of the underwater robot is equipped with the sensor; the computer is connected with the underwater robot via the cable; the control board is arranged on a control motor; and the depth control method of the linear active disturbance rejection technology is stored in the control board. In the implementation process, information including depth, vertical speed, attitude angle is obtained through the corresponding sensor; a depth controller places a model of a system and external disturbance in the same position; the depth control method based on the linear active disturbance rejection technology is used for controlling resolving and control instructions are outputted; and an actuator of the underwater robot executes the control instructions to complete depth motion control of the underwater robot. According to the invention, the underwater robot depth control device based on the linear active disturbance rejection technology and the method thereof can effectively adapt to strong nonlinear dynamics and external disturbance of the underwater robot and achieve precise depth control.

Description

technical field [0001] The invention relates to an underwater robot depth control device and method based on linear active disturbance rejection technology. The invention belongs to the field of depth control of underwater robots. Background technique [0002] Underwater robot is a time-varying, nonlinear, long-time-delay, multi-degree-of-freedom system. Due to the complexity of hydrodynamic parameters and changes in the flow environment, it is difficult to obtain an accurate mathematical model, so its control is very difficult. Although the deep motion of an underwater robot is only a special case of the general motion in space, it is a practical and typical form of common motion, so it is of great significance in the research on the motion and modeling of underwater robots. The depth motion of underwater robots has the characteristics of underactuation and strong coupling, and the interference of ocean currents and waves on the vertical plane is more complicated. How to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/04
Inventor 彭艳国文青刘梅谢少荣罗均唐智杰
Owner SHANGHAI UNIV
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