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介绍了一种新型内置姿态调节机构的水下球形机器人BYSQ-2的结构构型、工作原理和性能参数,并分析该机器人的动力学特性,最后研究了机器人外壳的姿态保持控制方法.BYSQ-2内部的双驱动转向机构与螺旋桨推进器配合,可完成水下空间六自由度运动;分别建立球壳和配重的动力学模型;基于流体动力学分析,建立球壳姿态保持控制模型,并将非线性控制模型近似线性化,然后用模糊自适应比例-积分-微分控制器(PID)方法控制配重的摆角,使球壳姿态保持稳定.仿真结果表明,该方法可获得良好的动、静性能,是一种简单有效的控制方法.
The structure, working principle and performance parameters of underwater spherical robot BYSQ-2 with a new built-in attitude adjustment mechanism are introduced, and the dynamics characteristics of the robot are analyzed. Finally, the attitude control method of robot shell is studied.BYSQ- The internal dual-drive steering mechanism cooperates with the propeller to accomplish six-degree-of-freedom underwater space motion. The dynamics model of the spherical shell and the counterweight is established respectively. Based on the fluid dynamics analysis, a spherical shell attitude-keeping control model is established. The nonlinear control model is approximated linearly, and then the swing angle of the counterweight is controlled by the fuzzy adaptive proportional-integral-derivative controller (PID) to keep the attitude of the spherical shell stable. The simulation results show that this method can obtain a good dynamic , Static performance, is a simple and effective control method.