摘要
针对水下航行器自主回收的需求,设计了一种水下航行器的对接回收装置,并通过拉格朗日法建立了对接机械臂动力学模型。为了保障控制系统的可靠性,在对水下对接装置进行实际控制硬件安装与调试之前,进行基于其虚拟样机的仿真实验。通过ADAMS-MATLAB联合仿真,调试控制系统的控制参数,观察对接机械臂在各关节联动控制下的效果,为后续实验样机的控制系统硬件和算法的实施建立基础。
To fulfill the requirement of autonomous recovery of AUV, a docking recovery device forunderwater vehicle is designed, and the dynamic model of docking manipulator is established by Lagrangemethod. In order to ensure the reliability of the control system, the simulation experiment based on thevirtual prototype is carried out before the process of hardware installation and debugging of the underwaterdocking device. Through the coordinated simulation of ADAMS--Matlab, we debug of parameters of con-trol system, observe the control result of manipulator by coordinated joints control and save the data forthe preparation for hardware implementation of the control system and the algorithm of the experimentalprototype.
出处
《机械与电子》
2017年第6期60-63,67,共5页
Machinery & Electronics
