水下管道清淤疏浚机器人驱动控制研究

文章提出一种清淤疏浚机器人来替代目前国内人工清淤工作,以便于高效率清淤,切实保护一线工作人员的人身安全,并基于该清淤机器人提出一种增量式PID控制驱动方法,在机器人两侧液压马达各自闭环控制的基础上,设计了速度同步补偿器,实现了两侧马达的同步控制,经过仿真实验验证得到了很好的控制效果。

In this paper,a dredging robot is proposed to replace the current domestic manual dredging work,in order to effectively protect the health of the front-line staff.Based on the dredging robot,an incremental PID control driving method is proposed.Also,on the basis of the self-closing loop control,a speed synchronous compensator is designed to realize the synchronous control of the four hydraulic motors on both sides of the robot.The simulation results show that the control method is very effective.