李冀永, 万磊, 黄海, 张国成, 秦洪德
AuthorsHTML:李冀永, 万磊, 黄海, 张国成, 秦洪德
AuthorsListE:Li Jiyong, Wan Lei, Huang Hai, Zhang Guocheng, Qin Hongde
AuthorsHTMLE:Li Jiyong, Wan Lei, Huang Hai, Zhang Guocheng, Qin Hongde
Unit:哈尔滨工程大学水下机器人技术重点实验室，哈尔滨150001
Unit_EngLish:Department of Naval Architecture and Ocean Engineering, Harbin Engineering University, Harbin 150001, China
Abstract_Chinese:针对开架式水下机器人在其作业过程中易受到脐带缆、机械手和海流等扰动影响的问题, 为减小改扰动对艇体姿态的影响, 文中对开架式水下机器人设计了一种基于模型的自适应抗扰控制方法, 并分别对脐带缆和机械手引起的扰动进行了建模分析, 具体建立了一种以全局运动学控制环和扰动力补偿项为主的自适应抗扰控制．在SY-Ⅱ开架式水下机器人平台上进行了S面控制和自适应抗扰控制的对比实验．结果表明, 脐带缆和机械手的扰动力会对水下机器人的姿态产生较大影响, 通过对扰动力的实时估算和补偿, 在定深定向、轨迹跟踪实验中, 基于模型的抗扰控制方法表现出更高的控制精度, 在姿态保持实验中, 与S面控制方法相比, 自适应抗扰控制展现了较好的鲁棒性, 系统轨迹更平稳, 具有更强的稳定性．
Abstract_English:Open frame underwater vehicles tend to be affected by the disturbances caused by manipulator，tether，waves and other factors. In order to reduce the influence of disturbances，in this article a model-based adaptive anti-disturbance control(AADC)method for open frame underwater vehicles was proposed. The models of disturbances caused by manipulator and tether was analyzed，and an AADC method in details based on global dynamic control loop and disturbances compensation terms was established. Experiments carried out on SY-Ⅱ open frame underwater vehicle to compare the AADC with the S surface control show that manipulator and tether indeed caused certain disturbances on the vehicle. The AADC method shows higher control accuracy through the estimation and compensation of disturbance in deep keeping，orientation keeping and path following experiments. When it comes to the position keeping experiments while the manipulator is at work，AADC method is robust against disturbance，hence generating smoother trajectory in vehicle motion and showing better stability performance than S surface control.
Keyword_Chinese:水下机器人; 机械手; 脐带缆; 抗扰控制
Keywords_English:underwater vehicle; manipulator; tether; anti-disturbance control

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