罗阳, 陶建国, 邓立平, 邓宗全. 水下焊接机器人变质心补偿控制[J]. 机器人, 2020, 42(3): 289-300. DOI: 10.13973/j.cnki.robot.190293
引用本文: 罗阳, 陶建国, 邓立平, 邓宗全. 水下焊接机器人变质心补偿控制[J]. 机器人, 2020, 42(3): 289-300. DOI: 10.13973/j.cnki.robot.190293
LUO Yang, TAO Jianguo, DENG Liping, DENG Zongquan. Centroid Variability Compensation Control of Underwater Welding Vehicle[J]. ROBOT, 2020, 42(3): 289-300. DOI: 10.13973/j.cnki.robot.190293
Citation: LUO Yang, TAO Jianguo, DENG Liping, DENG Zongquan. Centroid Variability Compensation Control of Underwater Welding Vehicle[J]. ROBOT, 2020, 42(3): 289-300. DOI: 10.13973/j.cnki.robot.190293

水下焊接机器人变质心补偿控制

Centroid Variability Compensation Control of Underwater Welding Vehicle

  • 摘要: 为了补偿由于3自由度直角坐标式机械臂移动引起的HITUWV水下焊接机器人质心变化,提出基于变质心模型的自适应滑模控制方法(CVM-ASMC).首先建立机器人变质心模型,精确地描述水下焊接机器人的变质心特性.随后,设计基于变质心模型的自适应滑模控制器,实现高精度变质心补偿.实验结果表明,相较于传统PID(比例-积分-微分)控制器与基于模型的PID控制器,提出的CVM-ASMC具有更高的精确性、更好的稳定性以及更低的能耗.因此,CVM-ASMC可以满足水下作业稳定与高精度运动控制要求.

     

    Abstract: In order to compensate the centroid variability of the underwater welding vehicle (named HITUWV) caused by the movements of the 3-DOF (degree of freedom) Cartesian-type manipulator, a centroid-variability model based adaptive sliding mode controller is proposed. Firstly, a centroid variability model (CVM) of HITUWV is established to describe the centroid variability characteristics of HITUWV accurately. Then, a centroid-variability model based adaptive sliding-mode controller (CVM-ASMC) is designed, to realize a high-accuracy compensation of the centroid variability. Experimental results indicate that the proposed CVM-ASMC demonstrates a higher accuracy, a better stability and a lower power consumption than the conventional PID (proportional-integral-differential) controller and the model-based PID controller. As a result, CVM-ASMC can meet the control requirement of underwater operation with high stability and accuracy.

     

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