基于类拉格朗日方程的UVMS动力学简化建模方法  

A Simplified Modeling Method of UVMS Dynamics Based on Quasi-Lagrange Equation

作　　者：杨青宇 任凭 王浩 YANG Qingyu;REN Ping;WANG Hao(Engineering College,Ocean University of China,Qingdao 266100,China)

机构地区：[1]中国海洋大学工程学院自动化及测控系,山东青岛266100

出　　处：《水下无人系统学报》2024年第5期891-900,共10页Journal of Unmanned Undersea Systems

基　　金：中央高校基本科研业务费(201964014)。

摘　　要：作为一种具有强非线性、强耦合、时变、冗余且高维度的复杂系统,水下机器人-机械臂系统(UVMS)的建模、运动控制和稳定性研究都具有较大的难度。在动力学建模中,对于自由度较高的复杂UVMS,采用传统拉格朗日方程建模,需要对广义坐标向量和其导数分别进行求导和求偏导操作,会面临符号求导计算量大、建模效率低等问题。因此,文中基于类拉格朗日方法提出一种适用于6+n自由度UVMS的动力学简化建模方法,以减少符号化公式推导的运算量,提高建模效率与结果的准确性。最后结合BlueROV水下机器人与Reach Alpha水下机械臂的实物参数对所建立的模型进行了数值仿真,实验结果验证了UVMS的复杂耦合性。基于文中方法建立的动力学模型具有明确、清晰的方程形式,能够为控制算法研究与耦合力优化提供有力支撑,为动力学参数设计与轨迹规划研究提供参考。As a kind of complex system with strong nonlinearity,strong coupling,time variance,redundancy,and highdimension,the modeling,motion control,and stability analysis of an underwater vehicle-manipulator system(UVMS)are verychallenging.In dynamics modeling,the traditional Lagrange equation is often used to model the complex UVMS with highdegrees of freedom,which requires the operation of derivation and partial derivation of the generalized coordinates and theirderivatives and will face the problems of a large amount of calculation and low modeling efficiency.Therefore,this paperproposed a simplified dynamics modeling method for UVMS with 6+n degree-of-freedom based on the quasi-Lagrangeequation,which could reduce the amount of calculation in the symbolic formula derivation and improve the modelingefficiency and the accuracy of the results.Finally,the numerical simulation of a UVMS model was carried out with thephysical parameters of the underwater vehicle BlueROV and the underwater manipulator Reach Alpha,and the simulationresults verified the complex coupling of the UVMS.The dynamics model based on the proposed method had a clear equation form,which not only provided strong support for the study of control algorithms and the optimization of coupling forces butalso a basis for the design of dynamics parameters and the study of trajectory planning.

关 键 词：水下机器人-机械臂系统 类拉格朗日方程 简化建模 

分 类 号：TJ630.33[兵器科学与技术—武器系统与运用工程] U664.82[交通运输工程—船舶及航道工程]