CN115599108A - Bionic underwater robot control method based on carangidae model - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 43
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- 241000276694 Carangidae Species 0.000 title claims abstract description 12
- 238000004088 simulation Methods 0.000 claims abstract description 18
- 239000002131 composite material Substances 0.000 claims abstract description 14
- 238000012546 transfer Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 9
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0692—Rate of change of altitude or depth specially adapted for under-water vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The invention relates to the technical field of robot control, and discloses a bionic underwater robot control method based on a carangidae model, which comprises the following steps: 1) The method comprises the steps of establishing an underwater robot simulation model according to the actual dynamic condition of the ROV underwater, establishing mathematical models of underwater resistance, disturbance, robot gravity and propeller thrust, and obtaining a system transfer function according to the established models. The bionic underwater robot control method based on the carangid model completely shows that the composite controller has the effect of interference suppression, obviously, the control method has the advantages of a fuzzy controller and a traditional PID (proportion integration differentiation), has good anti-interference capability, has higher response speed of composite control compared with PID control and small speed fluctuation range in the angle test process of an experimental platform on water, and shows that the parallel fuzzy PID composite control achieves a better control effect.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a carangidae model-based bionic underwater robot control method.
Background
The current era is the era of rapid development of the marine field, the marine field becomes an important development part along with the gradual acceleration of the resource development process of people, and the underwater robot gradually develops into a main tool for exploring marine resources in the development process.
The underwater robot has very important research significance for exploration and development under complex marine environments, particularly when operation tasks such as landing, climbing or walking and the like need to be carried out on complex working surfaces such as ship sides, dams, piers and the like, the underwater robot with large-range swimming capability and local walking and climbing capability needs to be deeply researched and developed, and the underwater robot can be widely applied to the fields such as marine resource development and utilization, marine ranching construction, underwater cultural heritage protection, collection and salvage, safety inspection of reservoir dams, ship cleaning and daily maintenance, underwater safety and the like, can promote the rapid development of marine economy in China, maintain social stability and national safety, and has important economic and social benefits.
The underwater robot is generally limited by the detection range of a sensor or the operation range of an operation tool, when the underwater robot lands and is attached to a working surface, a coverage control algorithm of the underwater robot needs to be reasonably designed to realize efficient detection or operation on the working wall surface, and a circular coverage method along a preset planning path is widely applied to actual engineering as a practical and simple coverage control algorithm.
However, when the underwater robot works, the motion of the underwater robot is greatly influenced by the interference of water flow, the stable motion and the accurate positioning of the underwater robot are difficult points influencing the underwater operation of the robot, and an accurate control model and a high-reliability control algorithm are the basis and the premise for improving the motion performance of the underwater robot, so that the bionic underwater robot control method based on the carangidae model is provided to solve the problems.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a bionic underwater robot control method based on a carangidae model, which has the advantages of accurate control, stability, reliability and the like and solves the problems of inaccurate control, stability and reliability.
(II) technical scheme
In order to realize the purpose of accurate, stable and reliable control, the invention provides the following technical scheme: a bionic underwater robot control method based on a carangidae model comprises the following steps:
1) Establishing and simulating an ROV motion model, establishing an underwater robot simulation model according to the actual dynamic condition of the ROV underwater, wherein the underwater robot simulation model comprises the establishment of mathematical models of underwater resistance, disturbance, robot gravity and propeller thrust, and obtaining a system transfer function according to the established model, and the system transfer function is used as a controlled object to verify the control method, feasibility and accuracy;
2) The underwater robot motion control method is characterized in that a fuzzy PID controller and a parallel fuzzy PID composite controller are designed by combining fuzzy control and traditional PID control in research and simulation experiments, transfer functions of heading control and fixed depth control are obtained according to physical parameters of the robot, simulation control models are respectively established by the traditional PID controller, the fuzzy PID controller and the parallel fuzzy PID composite controller according to heading angles and depth values, and a one-dimensional sliding table is introduced to serve as an ROV gravity center adjusting device to balance deviation caused by the structure of the robot and external interference to an X axis;
3) The whole motion control system is mainly composed of a control unit, a detection unit, a power execution unit, a communication unit and the like; then, the model selection is carried out on a main controller of the control unit and a sensor required by the detection unit, and the model selection is carried out on an electric regulator and a propeller required by the driving unit according to the characteristics of simplicity and convenience of motion control; the method comprises the steps that a modularization method is utilized to design a hardware circuit of a motion system, the hardware circuit of the motion control system mainly comprises a power module circuit, a relay control switch module, a serial port-to-Ethernet module circuit, a driver module circuit and a sensor detection circuit, selected components are packaged in an underwater robot electronic cabin and combined with an underwater control box, and peripheral elements of the robot are tested underwater;
4) The simulation experiment platform control experiment is used for building a simulation experiment platform, a proper driver and a proper motor are selected for the experiment platform to carry out angle control, an algorithm and sensor angle feedback are added in a program, a set value is given to enable the driver to drive the motor to rotate so that the platform is inclined to an expected angle, and therefore the reliability of a control algorithm and the correctness of the algorithm are verified.
Preferably, the horizontal plane power of the ROV in the step 1) mainly refers to advancing and retreating, translation and rotation, and is unrelated to the movement of the other two surfaces, and the ROV power model is as follows:
Preferably, according to the underwater operation task requirement, a 6-degree-of-freedom pose control accuracy index r = (r 1, \8230; r 6) t of the ROV can be preset, wherein ri (i =1,2, \8230; 6) represents the tracking error allowed by the actual pose of the ROV relative to the expected pose, and a target area controlled by the 6-degree-of-freedom pose of the ROV according to the control accuracy index can be represented as:
η -pose tracking error vector in the formula;
η d — the expected pose vector, representing the target region center;
f1 (η 1) -target region of degree 1 freedom.
Preferably, in the step 2), the robot only performs depth-keeping movement in still water, that is, only the vertical propeller is used to perform translational movement on the vertical plane, the additional speed and angular speed generated in the horizontal plane during the movement, and the environmental disturbance force are not considered, and only the vertical movement is involved.
(III) advantageous effects
Compared with the prior art, the invention provides a carangid model-based bionic underwater robot control method, which has the following beneficial effects:
according to the bionic underwater robot control method based on the carangid model, defects caused by threshold switching are avoided through the control method, when large disturbance exists in the system stabilization process, the value of PID is reduced along with the increase of the error change rate, the effect that the composite controller has interference suppression is completely shown, obviously, the control method has the advantages of a fuzzy controller and the traditional PID and has good anti-interference capability, in the water experiment platform angle test process, the composite control is faster in response speed compared with the PID control, the speed fluctuation range is small, and the parallel fuzzy PID composite control is shown to achieve a better control effect.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
A bionic underwater robot control method based on a carangidae model comprises the following steps:
1) The method comprises the following steps of establishing an underwater robot simulation model according to the actual dynamic condition of the ROV under water, establishing a mathematical model of underwater resistance, disturbance, robot gravity and propeller thrust, obtaining a system transfer function according to the established model, and verifying a control method, feasibility and accuracy by taking the system transfer function as a controlled object, wherein the horizontal plane power of the ROV mainly refers to advancing, retreating, translation and rotation and is unrelated to the motion of the rest two surfaces, and the ROV power model is as follows:
η d — the expected pose vector, representing the target region center;
f1 (η 1) -target region of degree 1 freedom.
2) The underwater robot motion control method research and simulation experiment are combined with fuzzy control and traditional PID control to design a fuzzy PID controller and a parallel fuzzy PID composite controller, transfer functions of heading control and fixed depth control are obtained according to physical parameters of the robot, a simulation control model is respectively established by the traditional PID controller, the fuzzy PID controller and the parallel fuzzy PID composite controller according to heading angles and depth values, and a one-dimensional sliding table is introduced as an ROV gravity center adjusting device to balance deviation to an X axis caused by the structure and external interference of the robot;
3) The whole motion control system is mainly composed of a control unit, a detection unit, a power execution unit, a communication unit and the like; then, the model selection is carried out on a main controller of the control unit and a sensor required by the detection unit, and the model selection is carried out on an electric regulator and a propeller required by the driving unit according to the characteristics of simplicity and convenience of motion control; the method comprises the steps that a modularization method is utilized, a hardware circuit design is carried out on a motion system, the hardware circuit of the motion control system mainly comprises a power module circuit, a relay control switch module, a serial port-to-Ethernet module circuit, a driver module circuit and a sensor detection circuit, selected components are packaged in an electronic cabin of the underwater robot, the components are combined with an underwater control box and test peripheral elements of the robot under water, the robot only carries out fixed-depth motion in still water, namely, only a propeller in the vertical direction is utilized to complete translational motion on a vertical plane, and extra speed, angular speed and environmental interference force generated on the horizontal plane in the motion process are not considered, and only the motion in the vertical direction is involved;
4) The simulation experiment platform control experiment is used for building a simulation experiment platform, a proper driver and a proper motor are selected for the experiment platform to carry out angle control, an algorithm and sensor angle feedback are added in a program, a set value is given to enable the driver to drive the motor to rotate so that the platform is inclined to an expected angle, and therefore the reliability of a control algorithm and the correctness of the algorithm are verified.
The invention has the beneficial effects that: in a pure delay time of starting the system, the error is an instruction value, the error change rate is zero, the output of the system at the stage is determined by the full weight of the fuzzy controller, and the error and the change rate thereof are very large at the stage of the transient process, so the output of the system at the stage is determined by the fuzzy controller, and only when the response is gradually stable, the values of the error and the error change rate are reduced, and the PID controller is dominant, so the composite controller can embody the advantage of the stability of the fuzzy controller at the time of the transient state; meanwhile, the characteristic of high precision of PID linearity can be reflected in a stable state, and in conclusion, the control method avoids the defects caused by threshold value switching, and when large disturbance exists in the system stabilization process, the value of PID can be reduced along with the increase of the error change rate, so that the effect that the composite controller has interference suppression is completely shown.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A bionic underwater robot control method based on a carangidae model is characterized by comprising the following steps:
1) Establishing and simulating an ROV motion model, establishing an underwater robot simulation model according to the actual dynamic condition of the ROV underwater, wherein the underwater robot simulation model comprises the establishment of mathematical models of underwater resistance, disturbance, robot gravity and propeller thrust, and obtaining a system transfer function according to the established model, and the system transfer function is used as a controlled object to verify the control method, feasibility and accuracy;
2) The underwater robot motion control method is characterized in that a fuzzy PID controller and a parallel fuzzy PID composite controller are designed by combining fuzzy control and traditional PID control in research and simulation experiments, transfer functions of heading control and fixed depth control are obtained according to physical parameters of the robot, simulation control models are respectively established by the traditional PID controller, the fuzzy PID controller and the parallel fuzzy PID composite controller according to heading angles and depth values, and a one-dimensional sliding table is introduced to serve as an ROV gravity center adjusting device to balance deviation caused by the structure of the robot and external interference to an X axis;
3) The whole motion control system is mainly composed of a control unit, a detection unit, a power execution unit, a communication unit and the like; then, the model selection is carried out on a main controller of the control unit and a sensor required by the detection unit and the model selection is carried out on an electric regulator and a propeller required by the driving unit according to the characteristics of simplicity and convenience of motion control; the method comprises the following steps of designing a hardware circuit of a motion system by utilizing a modularization method, wherein the hardware circuit of the motion control system mainly comprises a power module circuit, a relay control switch module, a serial port-to-Ethernet module circuit, a driver module circuit and a sensor detection circuit, packaging selected components in an electronic cabin of the underwater robot, combining with an above-water control box and testing peripheral elements of the robot underwater;
4) The simulation experiment platform control experiment is used for building a simulation experiment platform, a proper driver and a proper motor are selected for the experiment platform to carry out angle control, an algorithm and sensor angle feedback are added in a program, a set value is given to enable the driver to drive the motor to rotate so that the platform is inclined to an expected angle, and therefore the reliability of a control algorithm and the correctness of the algorithm are verified.
2. The carangidae model-based bionic underwater robot control method according to claim 1, wherein the ROV horizontal plane power in the step 1) mainly refers to advancing and retreating, translation and rotation, and is unrelated to the movement of the other two surfaces, and the ROV power model is as follows:
3. The carangidae model-based bionic underwater robot control method according to claim 2, characterized in that a 6-degree-of-freedom pose control accuracy index r = (r 1, \8230;, r 6) t of the ROV can be preset according to underwater operation task requirements, wherein ri (i =1,2, \8230;, 6) represents that the actual pose of the ROV is allowed relative to the expected poseThe allowable tracking error, according to the control accuracy index, can be expressed as the target area controlled by the pose with 6 degrees of freedom of the ROV:
η -pose tracking error vector in the formula;
η d — the expected pose vector, representing the target region center;
f1 (η 1) -target region of degree 1 freedom.
4. The carangidae model-based bionic underwater robot control method as claimed in claim 1, characterized in that in the step 2), the robot only performs depth-keeping movement in still water, namely, only the vertical propeller is used for performing translational movement on a vertical plane, and the additional speed and angular speed and environmental disturbance force generated on a horizontal plane in the movement process are not considered, and only the vertical movement is involved.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117452806A (en) * | 2023-12-18 | 2024-01-26 | 广东海洋大学 | Course control method of underwater bionic fish robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117452806A (en) * | 2023-12-18 | 2024-01-26 | 广东海洋大学 | Course control method of underwater bionic fish robot |
| CN117452806B (en) * | 2023-12-18 | 2024-03-19 | 广东海洋大学 | Course control method of underwater bionic fish robot |
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