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