The invention relates to the technical field of robot control, and discloses a carangidae model-based bionic underwater robot control method, which comprises the following steps of: 1) building an ROV (Remote Operating Vehicle) motion model and simulating: building an underwater robot simulation model according to the actual dynamics condition of an ROV underwater, comprising the steps of establishing a mathematical model of underwater resistance, disturbance, robot gravity and thruster thrust, and obtaining a system transfer function according to the established model. The carangidae model-based bionic underwater robot control method completely shows that the composite controller has an interference suppression effect, obviously, the control method has the advantages of a fuzzy controller and a traditional PID (Proportion Integration Differentiation) at the same time, has good anti-interference capability, and has a good control effect in an angle test process of a water experiment platform. Compared with PID control, compound control is higher in response speed and small in speed fluctuation range, and it is indicated that parallel fuzzy PID compound control achieves a better control effect.
本发明涉及机器人控制技术领域,且公开一种基于鲹科模型的仿生水下机器人控制方法,包括以下步骤:1)ROV运动模型建立及仿真根据ROV在水下的实际动力学情况,建立水下机器人仿真模型,包括对水下阻力、扰动、机器人重力与推进器推力的数学模型的建立,根据所建模型得出系统传递函数。该基于鲹科模型的仿生水下机器人控制方法,完全显现出了此复合控制器具有抑制干扰的作用,显然,此控制方法同时具备了模糊控制器和传统PID的优点,且拥有良好的抗干扰能力,在水上实验平台角度测试过程中,复合控制较PID控制响应速度较快,速度波动范围不大,表明并联型模糊PID复合控制达到更好的控制效果。
Bionic underwater robot control method based on carangidae model
一种基于鲹科模型的仿生水下机器人控制方法
2023-01-13
Patent
Electronic Resource
Chinese
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