J4 ›› 2008, Vol. 19 ›› Issue (16): 0-1894.
Hu Wenqiang;Xu Xiaolong;Xu Guohua
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胡雯蔷;徐筱龙;徐国华
Abstract:
Underwater manipulator is an altitudinal non-linear and rigidify-coupling system working under very complex conditions and is effected easily.The dynamics model of underwater manipulator based on the wave force was constructed;one composited control method based on CMAC and PID was designed,thus the underwater manipulator had the ability of on-line self-learning and was adapted to the underwater condition;at last,one simulation of multiplex-athletics control of underwater manipulator was experimented using MATLAB/Simulink.According to the results of the simulation,the control method and dynamics model can be used to research multiplex-athletics control of underwater manipulator.
Key words: underwater manipulator;cerebellar model arithmetic controller(CMAC), dynamics model;wave forces
摘要:
水下机械手系统是一个高度非线性强耦合的作业系统,作业环境非常复杂且受到强干扰。考虑水动力对水下机械手的作用,推导了水下机械手的动力学模型;提出了一种基于小脑模型关节控制器与PID的复合控制算法,使水下机械手具有在线学习能力,能适应复杂的水下作业环境。以二关节水下机械手为例,利用MATLAB/Simulink对水下机械手的作业控制进行了仿真研究,结果证明,该控制方法和动力学模型可以有效地用于水下机械手的控制研究。
关键词: 水下机械手;小脑模型关节控制器;动力学模型;水动力
CLC Number:
TP391.7
Hu Wenqiang;Xu Xiaolong;Xu Guohua. Research and Simulation on Multiplex-athletics Control of Underwater Manipulator Based on CMAC[J]. J4, 2008, 19(16): 0-1894.
胡雯蔷;徐筱龙;徐国华;. 基于小脑模型关节控制器的水下机械手复合运动控制的研究及仿真[J]. J4, 2008, 19(16): 0-1894.
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