海流环境下二关节机械臂动力学建模及其跟踪控制

葛大会; 尤云祥; 冯爱春

doi:10.21656/1000-0887.430381

海流环境下二关节机械臂动力学建模及其跟踪控制

doi: 10.21656/1000-0887.430381

葛大会^{1, 2,},
尤云祥^{1, 2, 3},
冯爱春^{1, 2, 3, ,}

1.
上海交通大学海洋工程国家重点实验室，上海 200240
2.
上海交通大学船舶海洋与建筑工程学院，上海 200240
3.
上海交通大学三亚崖州湾深海科技研究院，海南三亚 572000

详细信息

作者简介:
葛大会(1996—)，男，硕士生(E-mail: ge_dahui@sjtu.edu.cn)

通讯作者:
冯爱春(1983—)，男，副教授，博士，博士生导师(通讯作者. E-mail: fengaichun@sjtu.edu.cn)

(我刊编委刘焕文推荐)
中图分类号: O313.3;O231
计量
- 文章访问数: 241
- HTML全文浏览量: 182
- PDF下载量: 54
- 被引次数: 0
出版历程
- 收稿日期: 2022-11-27
- 修回日期: 2023-01-26
- 刊出日期: 2023-06-01

Dynamic Modeling and Tracking Control of 2-Joint Manipulators in Ocean Current Environment

GE Dahui^{1, 2
,},
YOU Yunxiang^{1, 2, 3},
FENG Aichun^{1, 2, 3
, ,}

1.
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, P.R.China
2.
School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, P.R.China
3.
SJTU Yazhou Bay Institute of Deepsea Sci-Tech, Sanya, Hainan 572000, P.R.China

(Recommended by LIU Huanwen, M. AMM Editorial Board)

摘要

摘要: 水下机械臂的水动力性能受海流载荷的影响较大，目前针对水下机械臂控制的相关研究中将水下环境做了静水的假设或将海流载荷仅仅作为一种简单的随机扰动来考虑，控制精度较低.该文分别基于Lagrange法和Newton-Euler法推导出均匀海流环境下二关节机械臂的动力学模型，考虑海流和机械臂的相对运动，引入Morison公式计算海流对机械臂的水阻力和惯性力.基于此动力学模型，利用滑模控制策略实现机械臂理想轨迹的精确跟踪.对比PD(proportional-derivative)控制，仿真结果表明滑模控制具有更优的控制效果.
- 海流环境 /
- 水下机械臂 /
- 动力学建模 /
- 轨迹跟踪 /
- 滑模控制
Abstract: The hydrodynamic performance of the underwater manipulator is greatly influenced by the current load. The underwater environment is assumed to be a still water environment and the current load is only considered as a simple random disturbance in the current control research, and the traditional control precision is usually rather low. Based on the Lagrange method and the Newton-Euler method, a dynamic model for 2-joint manipulators in the uniform ocean current environment was derived. In view of the relative motion of the ocean current and the manipulator, the Morison formula was introduced to calculate the water resistance and the inertia force of the ocean current on the manipulator. Based on this dynamic model, the sliding mode control strategy was used to achieve accurate tracking of the ideal trajectory of the manipulator. The simulation results show that, compared with the PD (proportional derivative) control, the sliding mode control strategy has better control effects.
- ocean current environment /
- underwater manipulator /
- dynamic modeling /
- trajectory tracking /
- sliding mode control
(Recommended by LIU Huanwen, M. AMM Editorial Board)
注释:

1) (我刊编委刘焕文推荐)

HTML全文

图 1 二关节机械臂结构

Figure 1. Schematic of the 2-joint manipulator

下载: 全尺寸图片幻灯片

图 2 二关节机械臂PD控制不同控制参数下轨迹跟踪与输入力矩

注为了解释图中的颜色，读者可以参考本文的电子网页版本，后同.

Figure 2. Trajectory trackings and input torques of the 2-joint manipulator under different control parameters of the PD control

下载: 全尺寸图片幻灯片

图 3 4种趋近律下二关节机械臂滑模控制轨迹跟踪与输入力矩

Figure 3. Trajectory trackings and input torques of the 2-joint manipulator under 4 reaching laws of the sliding mode control

下载: 全尺寸图片幻灯片

图 4 改进指数趋近律在不同控制参数下的二关节机械臂滑模控制轨迹跟踪与输入力矩

Figure 4. Trajectory trackings and input torques of the 2-joint manipulator under different control parameters of the improved exponential reaching law of the sliding mode control

下载: 全尺寸图片幻灯片

图 5 静水、不同流速均匀海流下二关节机械臂滑模控制轨迹跟踪与输入力矩

Figure 5. Trajectory trackings and input torques of the 2-joint manipulator under still water and uniform ocean currents with different velocities of the sliding mode control

下载: 全尺寸图片幻灯片

图 6 不同频率理想轨迹下机械臂两个关节的轨迹跟踪误差

Figure 6. Trajectory tracking errors of 2 joints of the manipulator under ideal trajectories with different frequencies

下载: 全尺寸图片幻灯片

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