现代农业装备2026，Vol.47Issue(3)：68-78,109,12.DOI:10.3969/j.issn.1673-2154.2026.03.006
全向移动式网衣清洗机器人运动控制研究
Motion Control of an Omnidirectional Mobile Net-Cleaning Robot
摘要
Abstract
To meet the demand for automated net cleaning in deep-sea aquaculture cages and to address the problems of low control accuracy and weak disturbance rejection capability of underwater robots,this paper presents a systematic study on the motion control technology of an omnidirectional mobile net-cleaning robot.Based on rigid-body dynamics,the kinematic and dynamic models of the robot were established,and the thrust allocation analytical equations were derived in accordance with the thruster configuration,thereby revealing the mapping mechanism between actuator thrust and the spatial motion states.Considering the operational characteristics of gravity-type cylindrical net cages,a helical path planning and trajectory generation algorithm was designed to define the spatiotemporal reference trajectory for autonomous net-cleaning operations.To mitigate the risk of trajectory tracking instability induced by model parameter perturbations and ocean current disturbances,a fuzzy incremental PID composite control strategy was proposed,which employed fuzzy inference to achieve online self-tuning of the control parameters.Simulation experiments demonstrated that,compared with the conventional fixed-gain PID controller,the proposed strategy exhibited superior trajectory tracking accuracy and disturbance rejection robustness under typical operating conditions,including constant-depth cruising,upright station-keeping,and autonomous net-cleaning.The research results provide a theoretical foundation and technical support for the engineering application of net-cleaning robots.关键词
网衣清洗/水下机器人/推力分配/运动规划/模糊控制Key words
net cleaning/underwater robot/thrust allocation/motion planning/fuzzy control分类
农业科技引用本文复制引用
高勇,刘威,刘凯华,熊师,柴长虹,何林,陈明林,高明宇..全向移动式网衣清洗机器人运动控制研究[J].现代农业装备,2026,47(3):68-78,109,12.基金项目
广东省乡村振兴战略专项科技兴农项目(粤财农[2023]227号) （粤财农[2023]227号）
