基于LADRC的水下机器人平面粘附策略  

Plane adhesion strategy for underwater robots based on LADRC

作　　者：李宗刚[1,2] 赵锐 王超 夏广庆[3] LI Zonggang;ZHAO Rui;WANG Chao;XIA Guangqing(School of Mechatronic Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,Lanzhou Jiaotong University,Lanzhou 730070,China;State Key Laboratory of Structural Analysis,Optimization and CAE Software for Industrial Equipment,Dalian University of Technology,Dalian 116024,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州交通大学机器人研究所,兰州730070 [3]大连理工大学工业装备结构分析优化与CAE软件全国重点实验室,辽宁大连116024

出　　处：《兵器装备工程学报》2025年第2期211-219,共9页Journal of Ordnance Equipment Engineering

摘　　要：考虑到水下机器人粘附在目标平台的过程中,需沿期望轨迹运动并精确调整姿态以保证粘附过程的可靠性和稳定性问题,设计了一种结合粘附策略的LADRC轨迹跟踪控制方法。首先,结合仿生水凝胶吸盘设计了水下粘附机器人,并建立ROV动力学和运动学模型。其次,提出水下机器人粘附在目标平台上的控制策略,设计LADRC控制器对ROV在纵垂面内的位姿进行精确控制。在实现精确轨迹跟踪基础上,按照ROV与目标平台之间的距离调整纵倾角的变化范围。仿真结果表明:所设计的控制器具有较好的鲁棒性能,能够实现对纵垂面轨迹的精确跟踪且纵倾角变化范围远小于±5°。实验结果表明:本文中使用的仿生水凝胶吸盘能够保证ROV可靠地粘附在目标平台上,所设计的控制器能够使ROV按照所设定的期望轨迹运行,且纵倾角始终保持在±5°的范围内变化,进而说明了实际作业环境中所提粘附策略的可行性。Considering the need for underwater robots to move along the desired trajectory and adjust their posture accurately during the adhesion process to the target platform,a LADRC(Linear Active Disturbance Rejection Control)trajectory tracking control method combining adhesion strategy was designed to ensure the reliability and stability of the adhesion process.Firstly,the underwater adhesive robot is designed based on the biomimetic hydrogel sucker,and the ROV(Remote Operated Vehicle)dynamic and kinematic models were established.Secondly,the control strategy of underwater robots adhering to the target platform was proposed,and the LADRC controller was designed to accurately control the pose of the ROV in the longitudinal and vertical planes.Based on achieving precise trajectory tracking,the range of changes in the longitudinal inclination angle was adjusted according to the distance between the ROV and the target platform.The simulation results show that the designed controller has good robustness performance,and it can achieve accurate tracking of the longitudinal and vertical trajectory,with a range of changes in pitch angle far less than 5 degrees.The experimental results show that the bionic hydrogel sucker used in this paper can ensure that the ROV can adhere to the target platform reliably,and the designed controller can make the ROV run according to the set expected trajectory,and the pitch angle always remains within the range of 5 degrees,which further explains the feasibility of the adhesion strategy proposed in the actual working environment.

关 键 词：ROV LADRC 粘附 水凝胶 阵列式吸盘 轨迹跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]