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Ocean robot attitude control method, device and system

A technology of attitude control and robot, applied in the direction of attitude control, control/adjustment system, non-electric variable control, etc., can solve the problems of stability, rapidity and accuracy with certain difficulties, and achieve good self-adaptive adjustment ability, Improve the self-learning ability and speed, the effect of high attitude stability

Active Publication Date: 2018-02-02
深圳力合精密装备科技有限公司
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Problems solved by technology

[0003] However, at present, many marine robots have deficiencies in the automatic adjustment of underwater attitude. Due to the complexity of underwater interference, it is difficult for the control system of marine robots to maintain good stability, speed and accuracy.

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  • Ocean robot attitude control method, device and system
  • Ocean robot attitude control method, device and system
  • Ocean robot attitude control method, device and system

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Embodiment Construction

[0028] In order to make the object, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and the embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0029] figure 1 is a schematic diagram of a control system according to an embodiment of the present invention. Such as figure 1 As shown, the system for attitude control of marine robots includes the BFO-PNN-PID controller obtained by improving the classic PID controller. Wherein, the classic PID controller is improved by learning the probabilistic neural network itself (for example, through an adaptive learning module) and / or using, for example, a bacterial foraging optimization algorithm to train the probabilistic neural network (for example, through a training module) t...

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Abstract

The invention relates to ''an ocean robot attitude control method, an ocean robot attitude control device and an ocean robot attitude control system''. The ocean robot attitude control method disclosed by the invention utilizes a probabilistic neural network PID control algorithm improved based on a bacterial foraging optimization algorithm, controls errors between expected numerical values and anactual underwater pitch angle, a course angle as well as a depth and of an ocean robot, and realizes the control over a propeller. The ocean robot attitude control method combines the probabilistic neural network with PID control, has good self-adaptive control and anti-interference capability, optimizes the probabilistic neural network based on the bacterial foraging optimization algorithm, improves the self-learning ability and accelerates the self-learning speed of the algorithm, and enables the ocean robot to achieve high attitude stability quickly.

Description

technical field [0001] Embodiments of the present invention generally relate to the technical field of automatic control, and specifically relate to attitude control of a marine robot. Background technique [0002] In the environment of ocean development fever, marine robots have gradually become a new frontier and hot issue in navigation. Due to the existence of many external interference factors in the operation of the ocean, the marine robot is not only required to be able to move according to a predetermined trajectory under environmental disturbances in the process of performing tasks, but also needs to use the marine robot to carry out more detailed monitoring of the target in many cases. Observation and operation, which requires that the position of the marine robot relative to the target remains unchanged, that is, the marine robot is required to have a high attitude stability that can resist environmental disturbances. When the control performance declines due to c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 陶彦博刘厚德王松涛
Owner 深圳力合精密装备科技有限公司
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