水下机器人-机械手姿态调节系统研究

摘要

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.%针对微小型水下机器人(autonomous underwater vehicle,AUV)内部空间狭小、机械手展开作业产生较大姿态倾覆力矩的问题,本文研制了一种新型的水下机器人-机械手系统(autonomous underwater vehicle-manipulator sys-tem,AUVMS)姿态调节系统.该系统可以通过机械自锁实现姿态保持以减少能耗,并且可以实现"软件限位"和"硬件限位"两级安全保护.为降低AUVMS姿态偏差和调节时间,提出适应于AUVMS姿态控制的模糊双闭环PID方法,通过模糊逻辑在线调节PID参数,以适应于AUVMS的非线性特性.通过研制的AUVMS原理样机进行水池剪缆作业实验,验证了该AUVMS姿态调节系统及提出的控制方法的有效性.