水下焊接机器人变质心补偿控制  

Centroid Variability Compensation Control of Underwater Welding Vehicle

作　　者：罗阳 陶建国[1] 邓立平 邓宗全[1] LUO Yang;TAO Jianguo;DENG Liping;DENG Zongquan(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机器人》2020年第3期289-300,共12页Robot

基　　金：国家973计划(2013CB035502);国家自然科学基金(61673138);机器人技术与系统国家重点实验室自主研究课题(SKLRS2018i04B).

摘　　要：为了补偿由于3自由度直角坐标式机械臂移动引起的HITUWV水下焊接机器人质心变化,提出基于变质心模型的自适应滑模控制方法(CVM-ASMC).首先建立机器人变质心模型,精确地描述水下焊接机器人的变质心特性.随后,设计基于变质心模型的自适应滑模控制器,实现高精度变质心补偿.实验结果表明,相较于传统PID(比例-积分-微分)控制器与基于模型的PID控制器,提出的CVM-ASMC具有更高的精确性、更好的稳定性以及更低的能耗.因此,CVM-ASMC可以满足水下作业稳定与高精度运动控制要求.In order to compensate the centroid variability of the underwater welding vehicle(named HITUWV)caused by the movements of the 3-DOF(degree of freedom)Cartesian-type manipulator,a centroid-variability model based adaptive sliding mode controller is proposed.Firstly,a centroid variability model(CVM)of HITUWV is established to describe the centroid variability characteristics of HITUWV accurately.Then,a centroid-variability model based adaptive sliding-mode controller(CVM-ASMC)is designed,to realize a high-accuracy compensation of the centroid variability.Experimental results indicate that the proposed CVM-ASMC demonstrates a higher accuracy,a better stability and a lower power consumption than the conventional PID(proportional-integral-differential)controller and the model-based PID controller.As a result,CVM-ASMC can meet the control requirement of underwater operation with high stability and accuracy.

关 键 词：水下机器人 乏燃料池 变质心模型 自适应滑模控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]