海参捕捞机器人运动控制系统的仿真研究  

Simulation research on motion control system of sea cucumber fishing robot

作　　者：葛安亮[1] 陈浩[1] 邵绪新 李相坤 GE Anliang;CHEN Hao;SHAO Xuxin;LI Xiangkun(Engineering Training Center,Ocean University of China,Qingdao 266100,China;College of Engineering,Ocean University of China,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程训练中心,山东青岛266100 [2]中国海洋大学工程学院,山东青岛266100

出　　处：《现代电子技术》2024年第2期147-154,共8页Modern Electronics Technique

基　　金：泰山产业领军人才(ts20190914);中国海洋大学本科教育教学研究一般项目:基于虚拟仿真技术的焊接实训课程改革研究(2023JY164)。

摘　　要：随着水下机器人技术的发展,海参捕捞机器人将逐渐取代费时费力的人工捕捞作业。但是海参捕捞机器人的运动控制精度一直影响其运动稳定性和捕捞效率,一方面是由于海底的作业环境恶劣多变,机器人的结构功能复杂;另一方面是随着海参的累积,机器人的参数发生改变,原有控制模型的控制精度下降。为提高海参捕捞机器人的运动控制精度,在综合考虑机器人各种载荷的基础上,还考虑了海参对机器人造成的干扰,建立更加全面的机器人动力学模型;并运用模型预测控制理论和非线性干扰观测器对机器人的运动过程进行模拟分析。通过分别模拟机器人的定深下潜、运动姿态保持、路径跟踪和载重上升运动过程,定量分析机器人的运动控制精度,最后构建一个系统全面且精度较高的海参捕捞机器人运动控制系统。With the development of underwater robot technology,sea cucumber fishing robots are gradually replacing timeconsuming and laborious manual fishing operations.However,the motion control accuracy of sea cucumber fishing robots has always affected their motion stability and fishing efficiency.On the one hand,due to the harsh and variable working environment on the seabed,the structure and function of robots is complex;On the other hand,with the accumulation of sea cucumbers,the parameters of the robot change,and the control accuracy of the original control model are decreases.In order to improve the motion control accuracy of the sea cucumber fishing robot,a more comprehensive robot dynamics model is established by considering the various loads of the robot and the interference caused by sea cucumbers on the robot.The simulation analysis for the motion process of robots is conducted by means of model predictive control theory and nonlinear disturbance observer.The simulation of the robot′s fixed depth diving,motion attitude maintenance,path tracking and load ascending motion processes,the robot′s motion control accuracy is analyzed quantitatively.A complete and high precision motion control system for the sea cucumber fishing robot is built.

关 键 词：海参捕捞机器人 运动控制系统 动力学模型 模型预测控制 非线性干扰观测器 运动控制仿真 

分 类 号：TN923.3‐34[电子电信—通信与信息系统] TP242[电子电信—信息与通信工程]