船舶水下维修机械臂操控稳定性分析  

Analysis of manipulation and control stability of manipulator for underwater maintenance of warship

作　　者：陈咨铮 韩江桂[1] 胡淼 王波翔 CHEN Zizheng;HAN Jianggui;HU Miao;WANG Boxiang(College of Power Engineering,Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学动力工程学院,武汉430033

出　　处：《兵器装备工程学报》2022年第9期240-249,284,共11页Journal of Ordnance Equipment Engineering

基　　金：国家部委科研项目(HJ20182C070236)。

摘　　要：为了保证船舶水下应急维修的作业需求,提出一种采用水下机械臂代替潜水员下水和进坞维修以解决船舶水下设备问题的方案。基于拉格朗日函数和Morison方程,建立了水下机械臂的动力学方程;对水下机械臂的水动力进行了分析计算,通过Fluent仿真计算得到了作用于水下机械臂各臂杆上的水阻力和水阻力矩大小;将所求结果作为动力学仿真分析中的环境荷载代入ADAMS软件中进行动力学仿真实验,采用多段直线、圆弧不断逼近的方法规划了水下机械臂末端执行器的运动轨迹。结果表明,水下机械臂运动平稳且协调性和控制性较好;对水下机械臂进行了运动控制试验,证明了该水动力建模的准确性以及水下维修机械臂系统的操控稳定性,达到了预期目标,为后续更加复杂的水下试验与分析奠定了基础。In order to ensure the operation requirements of underwater emergency maintenance,this paper proposed to use underwater manipulator instead of divers to launch and dock to solve the problem of underwater equipment,analyzed and verified the manipulation and control stability of the underwater maintenance manipulator test system.Based on Lagrange function and Morison equation,the dynamic equation of the underwater manipulator was established;The hydrodynamic force of the underwater manipulator was analyzed and calculated.The water resistance and water resistance moment acting on each arm of the underwater manipulator were obtained by Fluent simulation.The results can be used as the environmental load in the dynamic simulation analysis;The obtained results were taken as the environmental load in dynamic simulation analysis and carried out dynamic simulation experiments in ADAMS software.The motion trajectory of the end-effector of underwater manipulator was planned by using the method of continuous approximation of multiple segments of straight lines and arcs.The results showed that the motion of underwater manipulator was stable and had good coordination and control;The motion control test of the underwater manipulator was carried out,which verifies the accuracy of the hydrodynamic modeling and the manipulation and control stability of the underwater maintenance manipulator system,and achieves the expected goal,which lays the foundation for the more complex underwater test and analysis.

关 键 词：机械臂 水下维修 动力学 水阻力 运动控制 稳定性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]