CN-122018539-A - ADRC-based motion planning and control system for water surface cleaning robot

CN122018539ACN 122018539 ACN122018539 ACN 122018539ACN-122018539-A

Abstract

The invention belongs to the technical field of control of water surface cleaning robots, and discloses an ADRC-based motion planning and control system of a water surface cleaning robot; the system comprises a multi-dimensional parameter acquisition unit, a coupling parameter calculation unit, a self-adaptive ADRC control unit and a propeller driving execution unit, wherein the multi-dimensional parameter acquisition unit acquires related parameters of a water body and a robot, the coupling parameter calculation unit generates various correction parameters, the self-adaptive ADRC control unit executes control logic according to the correction parameters and generates driving signals, the propeller driving execution unit executes driving processing, the coupling parameter calculation unit generates fluid resistance correction parameters by adopting a specific formula, and the system solves the problem of poor control adaptability of the traditional system and realizes stable motion control of the robot in a complex water area.

Inventors

MAI HAOPING
WU YANGBO
LI HUAPING
DAI HANRU
ZHANG JIEFENG

Assignees

广州市番高领航科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (10)

1. The system is characterized by comprising a multi-dimensional parameter acquisition unit, a coupling parameter calculation unit, a self-adaptive ADRC control unit and a propeller driving execution unit, wherein the multi-dimensional parameter acquisition unit is used for acquiring a water turbidity parameter, a water salinity parameter, a water flow speed parameter, a robot load parameter, a wave period parameter and a robot roll angle parameter, the coupling parameter calculation unit is used for generating a fluid resistance correction parameter according to the water turbidity parameter, the water salinity parameter and the water flow speed parameter, generating an extended state observer disturbance observation gain parameter according to the fluid resistance correction parameter and the robot load parameter, generating a nonlinear state error feedback coefficient parameter according to the extended state observer disturbance observation gain parameter, the wave period parameter and the robot roll angle parameter, the self-adaptive ADRC control unit comprises a tracking differentiator unit, an extended state observer unit and a nonlinear state error feedback unit, the extended state observer unit is used for performing disturbance observation processing by adopting the extended state observer disturbance observation gain parameter, the nonlinear state error feedback unit is used for generating a nonlinear state error feedback coefficient processing parameter, and the self-adaptive ADRC control unit is used for driving the output of a signal according to the extended state observer driving execution signal.
2. The ADRC-based water surface cleaning robot motion planning and control system according to claim 1, wherein the multi-dimensional parameter acquisition unit comprises a water medium acquisition subunit, a motion gesture acquisition subunit and a load detection subunit, wherein the water medium acquisition subunit is used for acquiring a water turbidity parameter, a water salinity parameter and a water flow speed parameter, the motion gesture acquisition subunit is used for acquiring a wave cycle parameter and a robot roll angle parameter, the load detection subunit is used for acquiring a robot load parameter, and the water medium acquisition subunit, the motion gesture acquisition subunit and the load detection subunit are all in data transmission connection with the coupling parameter calculation unit.
3. The ADRC-based water surface cleaning robot motion planning and control system according to claim 2, wherein the order of performing the parameter generation processing by the coupling parameter calculation unit is that a fluid resistance correction parameter is generated according to a water turbidity parameter, a water salinity parameter and a water flow speed parameter transmitted by the water medium acquisition subunit, an extended state observer disturbance observation gain parameter is generated according to the fluid resistance correction parameter and a robot load parameter transmitted by the load detection subunit, and finally a nonlinear state error feedback coefficient parameter is generated according to the extended state observer disturbance observation gain parameter, a wave period parameter transmitted by the motion gesture acquisition subunit and a robot roll angle parameter.
4. The ADRC-based motion planning and control system for a water surface cleaning robot according to claim 3, wherein the adaptive ADRC control unit comprises a tracking differentiator unit for receiving the water flow velocity parameter transmitted by the water body medium acquisition subunit and the wave period parameter transmitted by the motion gesture acquisition subunit, and the tracking differentiator unit performs adjustment processing of the tracking transition process parameter according to the water flow velocity parameter and the wave period parameter, and transmits the adjusted tracking transition process parameter as a tracking differentiator unit output signal to a signal integration node of the adaptive ADRC control unit.
5. The ADRC-based motion planning and control system of a water surface cleaning robot of claim 4, wherein the calculation relation adopted by the coupling parameter calculation unit to generate the fluid resistance correction parameter is a fluid resistance coupling correction coefficient formula, and the fluid resistance coupling correction coefficient formula is: ; In the formula, lambda is a fluid resistance correction parameter, alpha is a turbidity influence coefficient, T is a water turbidity parameter, beta is a salinity influence coefficient, S is a water salinity parameter, gamma is a water flow speed influence coefficient, v is a water flow speed parameter, g is a gravitational acceleration parameter, and d is a propeller blade diameter parameter.
6. The ADRC-based water surface cleaning robot motion planning and control system according to claim 5, wherein when the coupling parameter calculation unit generates the extended state observer disturbance observation gain parameter, the extended state observer disturbance observation gain parameter is obtained through specific calculation logic by combining the fluid resistance correction parameter, the robot load parameter, the water body density parameter and the propeller blade diameter parameter, and the calculation logic is constructed based on the coupling relation between the fluid resistance and the load so as to ensure that the extended state observer disturbance observation gain parameter is matched with the actual disturbance intensity.
7. The ADRC-based motion planning and control system for the water surface cleaning robot of claim 6, wherein when the coupling parameter calculation unit generates the nonlinear state error feedback coefficient parameter, the nonlinear state error feedback coefficient parameter is obtained through specific calculation logic by combining the extended state observer disturbance observation gain parameter, the robot roll angle parameter, the wave period parameter, the running time parameter, the propeller rotational inertia parameter and the extended state observer basic bandwidth parameter, and the calculation logic combines the cooperative adaptation of the attitude disturbance and the observation precision.
8. The ADRC-based motion planning and control system of a water surface cleaning robot of claim 7, wherein the adaptive ADRC control unit comprises an extended state observer unit receiving the extended state observer disturbance observation gain parameter transmitted by the coupling parameter calculation unit, the extended state observer unit substituting the extended state observer disturbance observation gain parameter into disturbance observation logic to perform disturbance observation processing, and transmitting an output signal after the disturbance observation processing to a signal integration node of the adaptive ADRC control unit.
9. The system for planning and controlling the motion of the water surface cleaning robot based on the ADRC as claimed in claim 8, wherein the adaptive ADRC control unit comprises a nonlinear state error feedback unit for receiving the nonlinear state error feedback coefficient parameter transmitted by the coupling parameter calculation unit, the nonlinear state error feedback unit substitutes the nonlinear state error feedback coefficient parameter into the error feedback logic to execute error feedback processing, and the output signal after the error feedback processing is transmitted to the signal integration node of the adaptive ADRC control unit.
10. The ADRC-based motion planning and control system of a water surface cleaning robot of claim 9, wherein the signal integration node of the adaptive ADRC control unit integrates the tracking differentiator unit output signal, the extended state observer unit output signal, and the nonlinear state error feedback unit output signal and generates a driving control signal, the adaptive ADRC control unit transmits the driving control signal to the propeller driving execution unit, and the propeller driving execution unit executes a propeller rotation speed adjustment process and a propeller direction adjustment process according to the driving control signal.

Description

ADRC-based motion planning and control system for water surface cleaning robot Technical Field The invention belongs to the technical field of control of water surface cleaning robots, and particularly relates to an ADRC-based motion planning and control system of a water surface cleaning robot. Background The conventional ADRC control scheme is adopted by the conventional water surface cleaning robot motion control system, and only the influence of the water flow speed and the robot load on motion control is simply considered, so that the coupling effect of the water medium characteristics and the robot attitude parameters is not concerned. In an actual complex water area environment, the change of turbidity and salinity of a water body can change the fluid resistance characteristic, the dynamic change of a wave period and a robot roll angle can generate additional gesture disturbance, the gain of an extended state observer of ADRC and a nonlinear state error feedback coefficient in the traditional scheme are fixed values, and cannot be dynamically adjusted according to the coupling factors, so that the problems of disturbance observation lag, poor control logic adaptability, easiness in occurrence of track deviation, unstable movement and the like of a robot are caused, and the operation requirements under the complex water area are difficult to meet. Based on the foregoing, there is a need for a motion control system that can adapt to multiple coupling factors and promote control adaptability. Disclosure of Invention The invention aims to solve the defects existing in the prior art, and provides an ADRC-based water surface cleaning robot motion planning and control system which comprises a multi-dimensional parameter acquisition unit, a coupling parameter calculation unit, a self-adaptive ADRC control unit and a propeller driving execution unit, wherein the multi-dimensional parameter acquisition unit is used for acquiring a water turbidity parameter, a water salinity parameter, a water flow speed parameter, a robot load parameter, a wave period parameter and a robot roll angle parameter, the coupling parameter calculation unit is used for generating a fluid resistance correction parameter according to the water turbidity parameter, the water salinity parameter and the water flow speed parameter, generating an extended state observer disturbance observation gain parameter according to the fluid resistance correction parameter and the robot load parameter, and generating a nonlinear state error feedback coefficient parameter according to the extended state observer disturbance observation gain parameter, the wave period parameter and the robot roll angle parameter, the self-adaptive ADRC control unit comprises a tracking differentiator unit, an extended state observer unit and a nonlinear state error feedback unit, the extended state observer unit is used for performing disturbance observation by adopting the extended state observer, and the extended state observer element disturbance observation gain parameter, the self-adaptive ADRC control unit is used for outputting a linear state error observation signal and driving the signal according to the extended state observer driving execution signal. Preferably, the multidimensional parameter acquisition unit comprises a water medium acquisition subunit, a motion gesture acquisition subunit and a load detection subunit, wherein the water medium acquisition subunit is used for acquiring a water turbidity parameter, a water salinity parameter and a water flow speed parameter, the motion gesture acquisition subunit is used for acquiring a wave period parameter and a robot roll angle parameter, the load detection subunit is used for acquiring a robot load parameter, and the water medium acquisition subunit, the motion gesture acquisition subunit and the load detection subunit are all connected with the coupling parameter calculation unit in a data transmission manner. Further preferably, the sequence of the parameter generation processing performed by the coupling parameter calculation unit is that firstly, a fluid resistance correction parameter is generated according to a water turbidity parameter, a water salinity parameter and a water flow speed parameter transmitted by the water medium acquisition subunit, then an extended state observer disturbance observation gain parameter is generated according to the fluid resistance correction parameter and a robot load parameter transmitted by the load detection subunit, and finally a nonlinear state error feedback coefficient parameter is generated according to the extended state observer disturbance observation gain parameter, a wave period parameter transmitted by the motion gesture acquisition subunit and a robot roll angle parameter. Further preferably, the self-adaptive ADRC control unit comprises a tracking differentiator unit for receiving the water flow speed parameter transmitted by the water body medium ac