欠驱动机器人控制水面航迹自适应调整数学建模  

Mathematical modeling of self-adaptive water surface track adjustment for underactuated robots

作　　者：郭春香[1] 王青[1] GUO Chun-xiang;WANG Qing(Changzhou Vocational Institute of Mechatronic Technology,Changzhou 213164,China)

机构地区：[1]常州机电职业技术学院,江苏常州213164

出　　处：《舰船科学技术》2020年第6期61-63,共3页Ship Science and Technology

摘　　要：在传统的水面航迹自适应调整数学建模方法所建模型的应用中,因水面航迹跟踪误差收敛速度慢,存在响应灵敏度低的缺点,导致船舶无法快速调整至预设航迹。基于此,设计一种欠驱动机器人控制水面航迹自适应调整数学建模方法。首先,建立船舶运动坐标系,其次,建立船舶运动方程,最后,利用欠驱动机器人实现水面航迹跟踪,至此完成欠驱动机器人控制水面航迹自适应调整数学建模方法的设计。与传统的水面航迹自适应调整数学建模方法作比较,实验结果表明,利用提出的建模方法所建模型具有更高的响应灵敏度,能够使船舶快速调整至预设航迹。In the application of the model established by the traditional mathematical modeling method of water self-adaptive surface track adjustment, due to the slow convergence speed of the surface track tracking error and low response sensitivity, the ship cannot quickly adjust to the preset track. Based on this, a modeling method of mathematical modeling of selfadaptive water surface track adjustment for underactuated robots is designed. Firstly, the ship motion coordinate system is established, secondly, the ship motion equation is established, and finally, the surface track is tracked by the under-actuated robot, then the design of the modeling method of mathematical modeling of self-adaptive water surface track adjustment for underactuated robots is completed. Through comparison experiments, compared with traditional mathematical modeling methods for adaptive adjustment of surface trajectory, the experimental results show that the model created by the proposed modeling method has higher response sensitivity, which enables the ship to quickly adjust to the preset trajectory.

关 键 词：欠驱动机器人 自适应控制 数学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]