哈尔滨工程大学学报2018，Vol.39Issue(2)：377-383,7.DOI:10.11990/jheu.201701003
水下机器人-机械手姿态调节系统研究
Attitude control system for autonomous underwater vehicle-manipulator system
摘要
Abstract
Aiming at the problem of the narrow interior space of mini autonomous underwater vehicle(AUV)and the large attitude overturning moment of manipulator stretch and operate, a new attitude control system of Autono-mous underwater vehicle-manipulator system(AUVMS)was developed. To reduce energy consumption of AUV, the attitude control system can maintain the attitude of pitch and roll through the mechanical self-locking protective structure; and meanwhile it can achieve the two-level-security-protection of the software limit and hardware limit. In order to reduce attitude deviation and adjustment time of the AUVMS, a fuzzy double-closed-loop PID method which is suitable for AUVMS attitude control was proposed, the PID control parameters were adjusted online through the fuzzy logic to adapt to the nonlinear characteristics of AUVMS. The effectiveness of the attitude control system and the proposed methods are verified by the cable cutting operation of AUVMS experimental platform that was carried out in the pool.关键词
水下机器人-机械手系统/水下大展臂机械手/姿态调节系统/重心调节/模糊双闭环PID控制Key words
underwater vehicle-manipulator system(AUVMS)/underwater long-arm manipulator/attitude control system/barycenter adjusting/fuzzy double-closed-loop PID control分类
信息技术与安全科学引用本文复制引用
杨超,张铭钧,秦洪德,郭冠群,王玉甲..水下机器人-机械手姿态调节系统研究[J].哈尔滨工程大学学报,2018,39(2):377-383,7.基金项目
国防基础科研资助项目(B2420133003) （B2420133003）
中央高校基本科研业务费专项资金项目(HEUCF160701). （HEUCF160701）
