Research On Motion Control System Of Underwater Robot Based On Improved Active Disturbance Rejection Control

In the wake of the development of technology and the burgeon of population,terrace renewable energy sources is lessening.At the same time,due to the richly endowed marine energy sources,many countries have diverted their attention from terrace to marine resources.Underwater robots have significant applies in a great deal of fields,including marine resource survey,military mission investigation,underwater active search and rescue,and maritime space probe,and it have prove to be the focus of key point research work in various countries.Nevertheless,the underwater robot possess strong interconnection,high non linearity,uncertainty and many external disturbances in practical applications.Therefore,it is difficult to contented people's requirements,so much the better regulate technique are demanded to ameliorate the control sound effects of underwater robots.For the sake of ameliorate the quality of the underwater robot operating system and ameliorate the regulate effect of its performance,we put into effect the study on the underwater robot locomotion control system on account of the improved active disturbance rejection controller.In this paper,the research work is carried out from two aspects,one side,a model of the six-degree-of-freedom locomotion of an underwater robot is building-up on account of the Newton-Euler method,hydro-mechanics and rigid body dynamics.After reasonable assumptions and simplifications,it is decoupled.On the other hand,the control method of ADRC is improved in two points.The first point is to improve the traditional nonlinear function based on the core nonlinear function of the control strategy,and design the improved nonlinear function.Then on this basis,the two parts of the active disturbance rejection control(ADRC)are improved.The first part is the improvement of the extended state observer(ESO),the ameliorated extended state observer would be enlarged to a novel state by the unknown characteristics of the system such as model uncertainty and external disturbances,and it also compensates the disturbance of the motion control system of the underwater vehicle.The second part is to improve the nonlinear state error feedback control(NSEF),the ameliorated nonlinear error state feedback control supplies high-performance regulate for underwater robots;tracking differentiator filters out noise signals and provides high-quality input for the system.The second improvement is its combined with the fact that there are a lot of external disturbances in the actual operation of the underwater robot,the acceleration feed-forward amount is increased,thereby increasing the control performance for control.Finally,the motion control system of the underwater vehicle is simulated,and the driving mechanism of the underwater vehicle is taken as the control object for experimental verification,so as to verify the exceedingly good control performance of the improved controller.The improved active disturbance rejection regulator devised in this article has stable dominate property in the simulation of the underwater robot translation motion dominate systematic and passes test of the underwater robot driving mechanism.It has momentous importance for the study of the control tactics of the underwater robot translation motion control system,and reference value.