自主式水下机器人滑模容错自动化控制方法

Sliding Mode Fault-tolerant Automatic Control Method for AutonomoussUnderwater Robots

针对因水下机器人工作环境噪声影响较大、难以提取故障特征点,导致控制精准度较低的问题,该文提出一种滑模容错自动化控制方法。建立机器人五自由度空间方程以及故障执行器的动力学方程,计算机器人每个关键滑模点的不确定性因素变化矢量,推导得到机器人的离散故障状态方程。根据机器人在期望状态下的滑模特性,将故障状态参数代入后,识别定位到故障点,提取机器人线性反馈的控制规律,设定机器人在滑模容错控制函数中的双曲正切函数,计算产生滑模动态的控制输入值,实现自动化控制。实验结果证明,所提方法在第25 s处即发现故障,输出信号幅值稳定在-28 Hz~28 Hz之间,具有良好的自动化控制能力。

A sliding mode fault-tolerant automated control method is proposed to address the problem of low control accuracy caused by the significant impact of noise in the working environment of underwater robots and the dificulty in extracting fault feature points.The five degree of freedom space equation of the robot and the dynamic equation of the fault actuator are established,the uncertainty factor change vector of each key sliding mode point of the robot is calculated,and the discrete fault equation of state of the robot is derived.Based on the sliding mode characteristics of the robot in the expected state,the fault state parameters are substituted to identify and locate the fault point,extract the control law of the robot linear feedback,set the hyperbolic tangent function of the robot in the sliding mode fault-tolerant control function,calculate the control input value that generates the sliding mode dynamic,and achieve automatic control.The experimental results demonstrate that the proposed method detects faults at the 25th second,and the output signal amplitude stabilizes between-28 Hz and 28 Hz,demonstrating good automation control capabilities.