[1]杨超,张铭钧,秦洪德,等.水下机器人-机械手姿态调节系统研究[J].哈尔滨工程大学学报,2018,39(02):377-383.[doi:10.11990/jheu.201701003]
 YANG Chao,ZHANG Mingjun,QIN Hongde,et al.Attitude control system for autonomous underwater vehicle-manipulator system[J].hebgcdxxb,2018,39(02):377-383.[doi:10.11990/jheu.201701003]
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水下机器人-机械手姿态调节系统研究(/HTML)
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
39
期数:
2018年02期
页码:
377-383
栏目:
出版日期:
2018-02-05

文章信息/Info

Title:
Attitude control system for autonomous underwater vehicle-manipulator system
作者:
杨超1 张铭钧1 秦洪德2 郭冠群1 王玉甲1
1. 哈尔滨工程大学 机电工程学院, 黑龙江 哈尔滨 150001;
2. 哈尔滨工程大学 船舶工程学院, 黑龙江 哈尔滨 150001
Author(s):
YANG Chao1 ZHANG Mingjun1 QIN Hongde2 GUO Guanqun1 WANG Yujia1
1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
水下机器人-机械手系统水下大展臂机械手姿态调节系统重心调节模糊双闭环PID控制
分类号:
TP242.6
DOI:
10.11990/jheu.201701003
文献标志码:
A
摘要:
针对微小型水下机器人(autonomous underwater vehicle,AUV)内部空间狭小、机械手展开作业产生较大姿态倾覆力矩的问题,本文研制了一种新型的水下机器人-机械手系统(autonomous underwater vehicle-manipulator system,AUVMS)姿态调节系统。该系统可以通过机械自锁实现姿态保持以减少能耗,并且可以实现"软件限位"和"硬件限位"两级安全保护。为降低AUVMS姿态偏差和调节时间,提出适应于AUVMS姿态控制的模糊双闭环PID方法,通过模糊逻辑在线调节PID参数,以适应于AUVMS的非线性特性。通过研制的AUVMS原理样机进行水池剪缆作业实验,验证了该AUVMS姿态调节系统及提出的控制方法的有效性。

参考文献/References:

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 YAO Feng,YANG Chao,ZHANG Mingjun,et al.End-precision measurement method for autonomous underwater vehicle manipulator systems and its principle error analysis[J].hebgcdxxb,2019,40(02):1155.[doi:10.11990/jheu.201805034]

备注/Memo

备注/Memo:
收稿日期:2017-01-01。
基金项目:国防基础科研资助项目(B2420133003);中央高校基本科研业务费专项资金项目(HEUCF160701).
作者简介:杨超(1988-),男,博士研究生;张铭钧(1963-),男,教授,博士生导师.
通讯作者:杨超,E-mail:yangchao@hrbeu.edu.cn.
更新日期/Last Update: 2018-03-07