基于高相关性水动力学系数的水下机械手动力学建模  

Research on Modeling Method of Underwater Mechanical Manual Mechanics Based on High Correlation Hydrodynamic Coefficients

作　　者：田颖[1] 崔浩哲 TIAN Ying;CUI Haozhe(College of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《机械设计与研究》2024年第6期70-77,83,共9页Machine Design And Research

摘　　要：水下机械手是可以代替人类在复杂水体环境中完成各种作业任务的重要装备,针对水下机械手精确控制的研究已成为水下机械手领域研究的热点,但目前传统的水下机械手因忽略水体状况或对水体运动研究相对较少等问题导致其作业精度较低。为了建立较为精确的水动力学模型,提高水下机械手的控制精度,研究一种基于高相关性水动力学系数的水下机械手动力学建模方法。首先利用Morison公式建立三自由度水下机械手的动力学模型。然后进行Fluent流体仿真实验,基于获取的实验数据拟合相关函数,通过比较相关系数R2的大小获取高相关性水动力学系数,在此基础上建立水下机械手动力学模型。最后基于Matlab完成三自由度水下机械手数值仿真实验。实验结果表明,该建模方法在水下机械手控制方面具有较好的精度,最大驱动力矩误差影响较小,证明了该建模方法的可行性。Underwater robotic arms are important equipment that can replace humans in completing various tasks in complex water environments.Research on precise control of underwater robotic arms has become a hot topic in the field of underwater robotic arms.However,traditional underwater robotic arms currently have low operational accuracy due to the neglection of water conditions or relatively little research on water motion.In order to establish a more accurate hydrodynamic model and improve the control accuracy of underwater robotic arms,a mechanical modeling method for underwater robotic arms based on high correlation hydrodynamic coefficients is studied.Firstly,the Morison formula is used to establish a dynamic model of a three degrees of freedom underwater manipulator.Then Fluent fluid simulation experiments are conducted,the correlation function is fitted based on the obtained experimental data,and high correlation hydrodynamic coefficients are obtained by comparing the magnitude of the correlation coefficients.Based on this,an underwater robotic armdynamics model is established.Finally,numerical simulation experiments of a three degrees of freedom underwater manipulator are completed using Matlab.The experimental results show that the modeling method has good accuracy in the control of underwater robotic arms,and the maximum driving torque error has a small impact,proving the feasibility of the modeling method.

关 键 词：水下机械手 水动力学系数 高相关性 水动力学模型 

分 类 号：TH39[机械工程—机械制造及自动化]