摘要
养殖工船舱壁清洗水下机器人是养殖作业的重要关键设备之一。针对深远海养殖工船的实际需求,研究了一种养殖舱壁清洗水下机器人。分析了水下机器人的舱壁静力学原理和舱壁运动动力学原理,建立了运动坐标系,并提出了一种基于模型预测控制的路径跟踪策略。最后,分别通过对水下机器人自由控制和跟踪控制实验验证了的控制策略。实验结果表面,该方法能够获得良好的控制效果。该水下机器人的研究方法可为养殖工船清洗作业提供一种有效的解决方案。
Underwater robot for bulkhead cleaning of farmer ships is one of the key equipments in breeding operation.In view of the actual needs of the farmer ship for deep sea aquaculture,an underwater robot for aquaculture bulkhead cleaning was studied.This paper analyzes the bulkhead statics and motion dynamics principles of the underwater robot,and the motion coordinate system is established.A path tracking method for an underwater robot based on model prediction control was proposed.Finally,the control strategy was validated through experiments on free control and tracking control of underwater robots,respectively.The experimental results showed that the method can achieve good control effects.The research method of the underwater robot can provide an effective solution for the cleaning operation of the farmer ships.
作者
王云杰
林礼群
马凤爽
徐志强
高迪驹
Wang Yunjie;Lin Liqun;Ma Fengshuang;Xu Zhiqiang;Gao Diju(Fishery Machinery and Instrument Research Institute,Chinese Academy of Fishery Sciences,Shanghai 200092,China;Key Laboratory of Ocean Fishing Vessel and Equipment,Ministry of Agriculture and Rural Affairs of the P.R.C,Shanghai 200092,China;Shanghai Maritime University,Shanghai 201306,China)
出处
《船电技术》
2023年第9期71-75,共5页
Marine Electric & Electronic Engineering
基金
山东省重点研发计划项目(2021SFGC0701)
浙江省“尖兵”“领雁”研发攻关计划项目(2022C03023)
中国水产科学研究院协同创新项目(2023XT06)。
关键词
养殖工船
舱壁清洗
水下机器人
模型预测控制
farmer ships
bulkhead cleaning
underwater robot
model predictive control
