摘要
针对框架式遥控机器人智能控制的问题,设计了一种模块化遥控多功能机器人。介绍了遥控机器人的模块化、多功能总体设计以及控制系统模块化结构。特别针对框架式遥控机器人控制系统耦合及控制效率问题,机器人采用全电推进方式,利用水平与垂直两个分控制系统方式将机器人控制系统分解,并利用改进的增量式PID控制算法实现机器人高精度自动控制。试验结果表明:控制系统具有良好的深度、航向控制能力,可为同类机器人设计提供参考。
In order to solve the problem of intelligent control of frame type remote operated vehicle（ROV）, a modular multifunctional ROV is designed. The modular and multifunctional design of the ROV is introduced in this paper, with the modular structure of the control system attached great importance. According to the frame type control system coupling and control efficiency, the ROV uses electric propulsion and adopts horizontal and vertical two sub control systems decompose the robot control system. The incremental PID control algorithm is adopted to achieve high precision automatic control. The test results show that the control system has good depth and heading control capability, and provides reference for similar robot design.
出处
《海洋技术学报》
2017年第6期28-32,共5页
Journal of Ocean Technology
