近水面作业的机器人综合减摇研究  

Research on Integrated Stabilization for Robot Working Near Sea Surface

作　　者：张立华[1] 吴宏圣[1] 张杰 

机构地区：[1]中国科学院长春光学精密机械与物理研究所光电技术研发中心,长春130033 [2]一汽轿车股份有限公司产品部电气系统科,长春130033

出　　处：《长春大学学报》2012年第8期918-922,共5页Journal of Changchun University

摘　　要：近水面作业的机器人会受到波浪干扰力的影响,很难保持稳定的姿态。根据机器人近水面作业时所受到的波浪干扰力的计算方法和机器人六自由度模型的状态空间表达式,计算出适用于变结构控制器的状态空间方程。在此基础上进行了积分变结构控制器的设计过程,然后借助Matlab软件,对机器人的横摇、纵摇运动中带有PID控制器和带有变结构控制器两种情况分别进行仿真,经过对比分析,变结构控制器较好的控制了机器人的姿态。The robots working near sea surface will be influenced by wave force and they are difficult to maintain a stable state. According to the calculation method of wave force that influences robots working near the sea surface and the state space representation of the robot six-degree-freedom model, the state space equation which is suited to integral variable structure controller is calculated. Then the process of integral variable structure controller for robot is designed. By Matlab software, we simulate the roll and pitch motion with PID controller and with the integral variable structure controller. Through comparison, integral variable structure controller can better control robot＇ s state.

关 键 词：近水面机器人 运动模型 综合减摇 积分变结构控制器 

分 类 号：U666[交通运输工程—船舶及航道工程]