水下二连杆机械臂滑模控制优化研究

Research on sliding mode control optimization of underwater two link robot arm

水下机器人-机械臂系统(UnderwaterVehicle-ManipulatorSystem,UVMS)在海洋资源采集与探索中具有重要作用。由于工作环境在水下,UVMS容易受到海流冲击,导致偏离预期位置。文章通过分析非水环境下的机械臂动力学、水动力学、机械臂对ROV本体的耦合影响,以及脐带缆对ROV本体的耦合影响,对水下二连杆机械臂进行动力学建模,并对其滑模控制方法进行研究。针对传统滑模控制的抖振问题,文章提出了一种基于改进指数趋近律的滑模控制方法,并利用MATLAB中的Simulink模块进行仿真。仿真结果表明,与传统滑模控制相比,基于改进指数趋近律的滑模控制方法有效抑制了抖振,提高了水下机械臂的动态稳定性。

The Underwater Vehicle Robot System(UVMS)plays an important role in the collection and exploration of marine resources.Due to the underwater working environment,UVMS is easily impacted by ocean currents,resulting in deviation from the expected position.The article analyzes the dynamics of a robotic arm in non water environments,hydrodynamics,the coupling effect of the robotic arm on the ROV body,and the coupling effect of the umbilical cable on the ROV body.It models the dynamics of an underwater two link robotic arm and studies its sliding mode control method.This article proposes a sliding mode control method based on an improved exponential convergence law to address the chattering problem of traditional sliding mode control,and simulates it using the Simulink module in MATLAB.The simulation results show that compared with traditional sliding mode control,the sliding mode control method based on improved exponential convergence law effectively suppresses chattering and improves the dynamic stability of underwater robotic arms.