基于非线性动力学模型补偿的水下机械臂自适应滑模控制  

Adaptive sliding mode control of underwater manipulator based on nonlinear dynamics model compensation

作　　者：付雯 温浩 黄俊珲 孙镔轩 陈嘉杰 陈武 冯跃 段星光[1] FU Wen;WEN Hao;HUANG Junhui;SUN Binxuan;CHEN Jiajie;CHEN Wu;FENG Yue;DUAN Xingguang(School of Mechatronical Engineering,Beijing Insitute of Technology,Beijing 100081,China;China Nuclear Power Technology Research Institute Co.,Ltd.,China General Nuclear Power Group,Shenzhen 518000,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]中国广核集团有限公司,中广核研究院有限公司,深圳518000

出　　处：《清华大学学报（自然科学版）》2023年第7期1068-1077,共10页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划项目(2019YFB1310503)。

摘　　要：为满足特大型水利水电工程中的大直径超长距离引水隧洞定期检测的重大需求,智能化水下机器人系统成为当前的研究热点。为提高水下机械臂建模的准确性与控制能力的精准性,该文首先提出一种融合Newton-Euler方程、Morison方程与非线性摩擦力的水下机械臂动力学模型建模及参数辨识方法,并在补偿已辨识模型的基础上,设计了一种利用径向基函数(radial basis function,RBF)神经网络补偿系统未建模与建模误差的自适应滑模控制方法。通过仿真,该文证明了该方法比传统比例积分微分(proportional integral differential,PID)控制和一般RBF网络自适应滑模控制具有更高的控制精度。[Objectives]The South-to-North water diversion project is a strategic project in China.Since its construction,it has become the main source of water conservancy in more than 280 cities.The diversion tunnel is the key building to support the South-to-North water diversion project.Due to its long line,large diameter,high water pressure,complex surrounding rock geology,as well as many years of water conservancy erosion,biochemical substances erosion,geological effect and other influences,typical defects such as cracks,collapse,exposed steel bars are prone to occur.Artificial detection of defects in the tunnel not only consumes time and energy,but also has low accuracy and timeliness.Therefore,underwater robot inspection technology has become a hotspot of current research.Among them,the underwater manipulator can not only be installed on the underwater vehicle,but also can be selectively installed on the required platform to complete the tasks of cleaning the water surface,laying and repairing cables,salvaging sunken objects,cutting off ropes and so on.However,the control of the underwater manipulator is more complicated and difficult due to its time-varying mechanics,nonlinear properties,external interference and hydrodynamic influence.The main purpose of this paper is to establish the dynamics model of the underwater manipulator and improve the accuracy of the trajectory tracking of the manipulator.[Methods]In this paper,a modeling method combining Newton-Euler equation and Morrison's dynamic model is proposed,and then the dynamic parameters are identified.Then,in order to improve the precise control ability of the manipulator in complex transient underwater environment,an adaptive sliding mode control method is designed based on compensating nonlinear dynamics model and using radial basis function(RBF)neural network to compensate the unmodeled and modeling errors of the system.Through the dynamic modeling in Section 4,a detailed dynamic simulation environment of the underwater manipulator is obtained.Gaussian nois

关 键 词：水下机械臂 动力学参数辨识 径向基函数神经网络补偿 自适应滑模控制 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]