Underwater robot and stability analysis and structure optimization application method thereof

Abstract

The invention discloses an underwater robot and a stability analysis and structure optimization application method thereof. The underwater robot comprises a carrier device, a camera shooting and lighting device, a control and navigation device and a driving device part, wherein a main body adopts a torpedo type structure, and the control and navigation device is placed inside the main body; a driving device is carried at the two ends of a main body structure and a tail vane, and the camera shooting and lighting device is fixed at the front end of the underwater robot; two operation modes are realized through interaction and coordination between an optical fiber and a wireless data transmission antenna as well as a control unit of a main control terminal by virtue of main control data transmission equipment; the underwater robot in a navigation mode rapidly and flexibly moves in a direct navigation manner, and a hovering operation mode greatly improves hovering stability of the underwater robot, so as to improve precision and accuracy of operation; and in a hovering stage of the underwater robot, horizontal propellers at the two sides are twisted into vertical propellers, precise hovering is realized, the tail vane is twisted into the horizontal propeller, so as to balance out turbulence effect, and Lyapunov index quantitative analysis is introduced to obtain control parameters.

Description

technical field [0001] The invention specifically relates to an underwater robot and an application method for stability analysis and structure optimization thereof, belonging to the technical field of robots. Background technique [0002] In recent years, operational underwater robots have received extensive attention from scholars and research institutions at home and abroad. When the robot hovers or moves underwater, it is easily affected by external disturbances such as ocean currents, and it is difficult to maintain a stable attitude and achieve precise operations. The stability of the system itself can be improved through mechanical structure design and control torque input. However, it is difficult for an underwater robot with poor stability to maintain its heading and depth. It must frequently adjust the control input torque to maintain the desired heading and depth, which will increase navigation resistance and system energy consumption, and even lose control. The ...

AI Technical Summary

Problems solved by technology

When Lyapunov stability theory analyzes the stability of complex nonlinear systems with multiple degrees of freedom and strong coupling, it is difficult to construct a suitable function, which is still a difficult problem at present.

In particular, when performing mechanical design and control optimization, qualitative analysis cannot give quantitative analysis indicators, and it is difficult to give quantitative analysis in terms of stability and maneuverability

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