人工免疫算法在水下机器人运动控制策略中的应用

Artificial immune algorithm in the application of the underwater robot motion control strategy

我国社会经济快速发展,各种智能化的机器人被应用在工业生产领域。水下机器人的主控系统一般采用电机作为主要的推进动力,对螺旋桨的控制直接决定水下机器人的工作性能。文中首先对螺旋桨的数学模型进行研究,然后结合螺旋桨的设计理论和相关特性,采用人工免疫算法对机器人的运动控制策略进行优化,最后采用Matlab仿真平台,对此算法的运动控制性能进行多方面的验证。

With the rapid development of China's society and economy, a variety of intelligent robots have been used in the field of industrial production. This paper mainly studies the technology of underwater robots in motion control system.The main control system of underwater robots is generally used motor As the main driving force, the control of the propeller directly determines the working performance of the underwater robot. In this paper, the mathematical model of the propeller is studied firstly, and then the motion control strategy of the robot is optimized by using the artificial immune algorithm combined with the propeller design theory and the related characteristics. Finally, the motion control performance of the algorithm is simulated by Matlab. Multi-faceted validation.