水下液压机械臂主被动柔顺控制系统设计与验证  

Design and Verification of Active/Passive Compliant Control System for Underwater Hydraulic Manipulator

作　　者：潘志文[1] 郭昌鸿 贾睿亨 程敏 张军辉[1] 徐兵[1] PAN Zhiwen;GUO Changhong;JIA Ruiheng;CHENG Min;ZHANG Junhui;XU Bing(State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou,Zhejiang 310027;State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044)

机构地区：[1]浙江大学流体动力基础件与机电系统全国重点实验室,浙江杭州310027 [2]重庆大学高端装备机械传动全国重点实验室,重庆400044

出　　处：《液压与气动》2024年第10期65-74,共10页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(U21A20124);浙江省科技计划项目(2022C01039)。

摘　　要：水下液压机械臂是用于水下特种作业的重要装备。目前控制液压机械臂进行水下作业时主要基于视觉反馈来确定作业位置,由于摄像头畸变、水流干扰等存在多种作业误差,容易在抓取、定位等作业时产生卡滞、楔紧等问题,严重影响作业效率和安全性。对此,提出了一种面向水下液压机械臂的主被动柔顺控制方法。通过末端夹具设计,补偿定位误差和偏转误差,实现被动柔顺;基于虚拟解耦控制方法建立精确位置控制器,结合接触力观测器和变阻抗控制,实现主动柔顺。实验验证了主被动柔顺控制的有效性,为水下液压机械臂的安全柔顺控制作业提供了参考。Underwater hydraulic manipulators are pivotal apparatuses for underwater special operations.Currently,the control of hydraulic manipulators for underwater operations mainly relies on visual feedback to determine the position.However,various operating errors can occur,such as camera distortion and water flow interference,which often result in sticking or jamming issues,severely impacting the efficiency and safety of operations.To address these,an active/passive compliant control system specifically designed for underwater hydraulic manipulators is proposed.By designing an end clamp,position and deflection errors are compensated to achieve passive compliance.Active compliance is achieved by the virtual decomposition control method,combined with a force observer and impedance control.Furthermore,the effectiveness of the active/passive compliant control method is verified through experiments,providing a reference for the design of safe and compliant control for underwater hydraulic manipulators.

关 键 词：水下机械臂 柔顺控制 液压系统 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TH137.9[自动化与计算机技术—控制科学与工程]