水下机器人控制系统设计与仿真

Research on Design and Motion Control of Six Degrees of Freedom Underwater Robot

设计一款小型有缆水下机器人,搭建以滑模控制器为核心的软、硬件平台,改进有缆水下机器人传统滑模控制器定向、艏向与姿态控制在平衡面不稳定的情况,把定深控制器、艏向控制器和姿态控制器计算得到的控制量并联输出,作为脉冲宽度调制调节量对电机调速.用Matlab/Simulink仿真软件对定深控制、艏向控制和姿态控制进行滑模控制器算法仿真,仿真结果验证了有缆水下机器人滑模控制系统的有效性和稳定性.

In view of the instability of underwater operating environment of cabled underwater robots,a small cabled underwater robot is designed;firstly,a software-hardware platform with a sliding mode controller as the core is built.Traditional sliding mode controller used for ROV orientation,heading and attitude control is not stable when the balance surface is reached.The control variables calculated by the depth controller,heading controller and attitude controller are output in parallel as Pulse width modulation adjusts the speed of the motor;in Matlab Simulink,the sliding mode controller algorithm is simulated for depth control,heading control and attitude control.The simulation results and analysis verify the effectiveness and stability of ROV sliding mode control system.