冷凝器清洗机器人动力学分析及自适应控制

Dynamics Analysis and Adaptive Control of Condenser Cleaning Robot

设计了水下冷凝器清洗机器人的机械和电气系统,考虑到浮力、水流阻力等因素的影响,建立了冷凝器清洗机器人的水下动力学模型.针对工作环境复杂的特点,提出了一种自适应控制策略,该控制律结构简单,鲁棒性强,能够对系统中的未知和不确定性因素进行有效补偿.设计过程采用了Lyapunov方法,保证了控制系统的稳定和收敛.仿真结果表明,该控制器性能稳定,具有良好的轨迹跟踪能力,同时也验证了本文建立模型的合理性.

This paper designed the mechanical and electrical structure of the underwater condenser cleaning robot. Considering the comprehensive influence caused by factors such as buoyance, flow resist- ance, etc, a dynamics model was established based on the complex work environment, and an adaptive control method was proposed. The structure of the control rule is simple and robust, which can overcome the uncertainties and the disturbances. The stability and convergence of the control system are ensured by using the Lyapunov method. Simulation results show the controller is very steady and can provides satis- factory tracking ability, which verifies the proposed model.