摘要
为了解决在作业时水下机器人载体上的机械手伸展过程将会引起载体重心发生变化,导致水下机器人发生纵横倾运动,影响作业效率的问题,考虑到水下机器人控制系统较为复杂,因此引入模糊滑模控制,根据要求设计出一款模糊滑模控制器。利用计算机和MATLAB技术,将水下机器人姿态运动方程与常规PID控制和模糊滑模控制分别结合起来进行仿真分析。仿真结果表明,模糊滑模控制相比于常规PID控制,在机械手关节正弦运动过程中,姿态角下降了20%以上,横倾姿态角度误差减小了30%以上,纵倾姿态角误差也超过了8%以上。在悬停作业过程中,纵横倾姿态角度都下降了30%以上。通过两种不同控制方式的仿真,验证了模糊滑模控制的控制效果要优于常规PID控制,能够取得更好的控制效果,同时利用计算机技术缩短了研究时间、提高了研究效率。
In order to solve the problem that the barycenter of the vehicle will change during manipulator stretching process on the remote operated vehicle,which will lead to the pitch and roll motion of the vehicle and affect the work efficiency,considering the complexity of the remote operated vehicle control system,according to the requirements,we design a fuzzy sliding mode controller through the introduction of the fuzzy sliding mode control.By computer and MATLAB technology,the remote operated vehicle attitude motion equation is combined with the conventional PID control and fuzzy sliding mode control respectively for simulation analysis.The simulation shows that the fuzzy sliding mode control is more than 20%than the conventional PID control during the sinusoidal motion of the manipulator joint,the roll angle error is reduced by more than 30%,and the pitch attitude angle error is also more than 8%.During the hovering work,the vertical and horizontal attitude angles have dropped by more than 30%.Through the simulation of two different control methods,it is proved that the control effect of the fuzzy sliding mode controller is better than the conventional PID control,which can achieve better control effects.At the same time,the research time is shortened and the efficiency is improved by computer technology.
作者
周克秋
李钦奉
ZHOU Ke-qiu;LI Qin-feng(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang 212003,China)
出处
《计算机技术与发展》
2020年第3期142-146,共5页
Computer Technology and Development
基金
国家工业和信息化部高技术科研项目(2014HZ007J)。
关键词
水下机器人
姿态控制
重心调节
模糊滑模控制
MATLAB技术
remote operated vehicle
attitude control
barycenter adjusting
fuzzy sliding mode control
MATLAB technology
