遥控水下机器人多电机协同控制研究

Research on Multi-motor Cooperative Control of Remote Operated Vehicle

为了提高遥控水下机器人(ROV)多电机系统的同步性能、鲁棒性和动态性能,该文提出一种基于PID速度补偿器的偏差耦合控制结构和一种新型多模态非奇异终端滑模控制策略。该控制结构增加了电机间的速度检测和反馈,并且对反馈结构进行PID控制,提高了电机间速度的同步性;该控制策略结合线性滑模控制和非奇异终端滑模控制的优点,并优化了滑模面的设计,缩短了系统收敛时间,提高了系统的动态、稳态性能。仿真实验表明:该控制结构提高了系统的同步性能、抗干扰能力;该控制策略很好地提高系统的动态、稳态性能和鲁棒性。该文提出的控制结构和策略能够良好地运用于ROV多电机系统。

In order to improve the synchronization performance,robustness and dynamic performance of the multi-motor system of ROV,a deviation coupling control structure based on PID speed compensator and a novel multimode nonsingular terminal sliding mode control strategy were proposed.The structure increases the speed detection and feedback between the motors,and PID control was applied to the feedback structure to improve the speed synchronization between the motors;the strategy combines the advantages of linear sliding mode control and nonsingular terminal sliding mode control,optimized the design of sliding mode surface,shortened the convergence time of the system,and improved the dynamic and steady-state performance of the system.The simulation result show that the control structure has better synchronization performance and stronger robustness;The strategy can improve the dynamic,steady-state performance and robustness of the system.The structure and strategy proposed in this paper can be well applied to the multi-motor system of ROV.