摘要
针对水下机器人作业时机械手移动对机器人整体重心影响出现的机器人纵倾,研制了平衡补偿机构,采用滑模变结构控制方法对平衡机构进行控制,同时在控制系统中采用干扰观测器对干扰进行测量,因而大大减小了切换增益的幅值,削弱了滑模控制中的抖振,对因为机械臂及云台运动造成的机器人纵倾控制取得了较好的实际效果,说明设计的平衡机构以及采用的控制方法是可行的。
The manipulator of underwater robots can make the robot change the center of the gravity partly when reaching out to work under the water, and cause the robot pitching. For a pitched robot, it＇s not easy to adjust the position accurately. A control device was presented and applied to balance the gesture of the robot. A sliding mode controller was designed to control the balance device, with which a disturbance observer was used to estimate the disturbances. According to the results of the experiments on the pitching of a robot caused by the manipulators and detecting pan/tilt, this approach of control reduced the switching-gain of the control system greatly and weakened the dither more of course. And the practicability of the balance device is shown.
出处
《电气传动》
北大核心
2009年第8期40-43,共4页
Electric Drive
基金
国家自然科学基金(40771166)
国家863计划(2007AA04Z225)
关键词
水下机器人
滑模控制
姿态平衡
underwater robot
sliding mode control
gesture balance
