一种摆式球形机器人水中俯仰运动的稳定控制方法

A stability control method for pitching motion in water of a pendulum type spherical robot

摆式球形水下机器人利用内部俯仰摆与中心螺旋桨相互配合可实现机器人在水中的上升和下潜运动,但是俯仰摆的频繁摆动会引起机器人速度波动,降低了系统稳定性。针对该种机器人俯仰驱动特点,提出了一种两级滑模方法来同时控制机器人俯仰角和俯仰摆的摆动角,引入RBF神经网络对干扰项进行自适应补偿。在理论上证明了设计的控制器是稳定的,仿真和实验结果也表明提出的控制方法可以实现机器人俯仰角的快速控制,并且能够对俯仰摆的频繁摆动进行有效抑制,提高了该种机器人水中运动的稳定性。

In a pendulum type spherical robot,its internal pitching pendulum and the central propeller mutually cooperate to realize its ascending and submersible motion in water.But the pitching pendulum＇s frequent swing may cause the robot＇s speed fluctuating and reduce the system＇s stability.Aiming at the robot＇s pitch-driven characteristics,a twostage sliding mode method was proposed to simultaneously control the robot＇s pitch angle and the pendulum＇s swing angle,a RBF neural network was introduced to adaptively compensate interference terms.The controller designed was proved to be stable theoretically.The results of simulation and test showed that the proposed control method can realize the rapid control of the robot＇s pitch angle,and can effectively suppress frequent swing of the pitching pendulum,so the stability of the robot＇s motion in water is improved.