摘要
针对水下机器人在运动过程中易受外部干扰或内部参数变化引起电机转速不同步的问题,提出一种基于新型偏差耦合结构的非奇异终端模糊滑模控制策略。首先,利用偏差耦合思想建立机器人电机的速度误差模型,增加电机转速检测与反馈模块,并结合PID控制设计速度补偿器对电机转速进行补偿;其次,设计非奇异终端滑模面与不含切换项的连续控制律,并且通过模糊控制调节滑模增益大小,可有效提高系统的响应速度并削弱抖振。仿真实验表明:该控制策略可以有效提高水下机器人多电机的同步跟踪效果和鲁棒性。该文提出的控制策略可以良好地应用在带缆遥控水下机器人多电机系统。
In order to solve the problem of asynchronous motor speed caused by external interference or internal parameter changes in the motion of underwater vehicle,a nonsingular terminal fuzzy sliding mode control strategy based on a new deviation coupling structure is proposed.Firstly,the speed error model of robot motor is established by using the deviation coupling idea,the motor speed detection and feedback module is added,and the speed compensator is designed to compensate the motor speed combined with PID control.Secondly,the nonsingular terminal sliding mode surface and the continuous control law without switching term are designed,and the sliding mode gain is adjusted by fuzzy control,which can effectively improve the response speed of the system and weaken the chattering.Simulation results show that the control strategy can effectively improve the synchronous tracking effect and robustness of multi motors of underwater vehicle.The control strategy proposed in this paper can be well applied to ROV multi motor system.
作者
吴伟
曾庆军
王阳
任军
WU Wei;ZENG Qingjun;WANG Yang;REN Jun(School of Telecommunications,Jiangsu University of Science and Technology,Zhenjiang 212028,China)
出处
《中国测试》
CAS
北大核心
2021年第11期101-106,共6页
China Measurement & Test
基金
国家自然科学基金资助项目(11574120)
江苏省产业前瞻与共性技术项目(BE2018103)。
关键词
多电机协同
滑模控制
模糊控制
水下机器人
multi motor cooperations
sliding mode control
fuzzy control
underwater robot
