作业条件下的UVMS垂直面姿态控制研究  

Research on UVMS vertical attitude control method under operation conditions

作　　者：邓常红 赵康康 魏延辉 牟泽昊 DENG Changhong;ZHAO Kangkang;WEI Yanhui;MU Zehao(Cnooc(China)Limited Shenzhen Branch,Shenzhen 518064,China;College of Intelligent Systems Science and Engineering,Harbin Engineering University,Harbin 150001,China;Nanhai Institute of Harbin Engineering University,Sanya 572000,China)

机构地区：[1]中国石油(中国)有限公司深圳分公司,广东深圳518064 [2]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [3]哈尔滨工程大学三亚南海创新发展基地,海南三亚572000

出　　处：《内蒙古工业大学学报(自然科学版)》2025年第1期23-29,共7页Journal of Inner Mongolia University of Technology:Natural Science Edition

基　　金：海南省科技计划三亚崖州湾科技城联合项目(2021CXLH0001)。

摘　　要：针对水下机器人-机械臂系统(underwater vehicle-manipulator system,UVMS)水下作业的运动控制所存在的自身结构不确定性干扰、系统动力学耦合干扰以及海流干扰问题以及解决方法展开研究。对系统建立合适的坐标系,并依此得到系统的运动学模型;根据系统垂直面动力学方程和系统之间耦合影响,建立了垂直面欠驱动型水下机器人数学模型。针对作业条件下UVMS垂直面姿态进行控制研究,设计了一种基于模糊自适应反步控制器,通过仿真对不同运动条件下的姿态进行控制验证,结果表明文中方法能够使UVMS在不同运动条件下保持良好的控制姿态。The problems of structure uncertainty,system dynamics coupling and ocean current interference in motion control of underwater vehicle-manipulator system(UVMS)are studied.A suitable coordinate system is established for the system,and the kinematics model of the system is obtained.According to the dynamic equation of vertical plane and the coupling effect between systems,the mathematical model of underactuated underwater vehicle in vertical plane is established.Aiming at the control of UVMS vertical plane attitude under operating conditions,an adaptive backstepping controller based on fuzzy is designed.The attitude control under different motion conditions is verified by simulation.The results show that the method in this paper can better make UVMS maintain a good control attitude under different motion conditions.

关 键 词：水下作业 UVMS 模型解耦 姿态控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]