计算机与现代化Issue(3)：38-44,51,8.DOI:10.3969/j.issn.1006-2475.2025.03.006
基于模型预测控制的水下机器人网箱巡检控制方法
Method for Underwater Robot Cage Inspection Control Based on Model Predictive Control
摘要
Abstract
Aiming at the high cost and low efficiency of manual periodic inspection of aquaculture cages during the aquaculture process,a method based on MPC for ROV(Cable Remote Control Underwater Robot)aquaculture cage inspection trajectory tracking control is proposed.Firstly,the physical and kinematic constraints of the ROV based on actual conditions are included,and combining the ROV kinematic and dynamic models,a speed controlled MPC controller is designed.Using the traditional PID(Proposal Integration Difference)control algorithm as the baseline,a model-free PID controller is designed.Secondly,the simu-lation experiment of two-dimensional horizontal track and three-dimensional space track tracking in cage aquaculture environ-ment is carried out and compared.Finally,the experimental results show that the proposed method has advantages such as good trajectory tracking performance,stable ROV operation,and small fluctuations.The method proposed in this paper for solving the low efficiency of aquaculture cage inspection provides an advanced inspection solution for the aquaculture industry.关键词
水下机器人/网箱巡检/模型预测控制Key words
underwater robots/cage inspection/model predictive control分类
信息技术与安全科学引用本文复制引用
张家旭,刘晓阳,洪胜呈,盛亦凡,王明阳..基于模型预测控制的水下机器人网箱巡检控制方法[J].计算机与现代化,2025,(3):38-44,51,8.基金项目
国家自然科学基金资助项目(61603067) （61603067）
辽宁省自然科学基金资助项目(2020-KF-12-09) （2020-KF-12-09）
辽宁省教育厅基金资助项目(LJKZ0730) （LJKZ0730）
