V01.49 No.1
Jan.2019
第49卷第1期
2019年1月
东南大学学报(自然科学版)
UNIVERS兀Y(Natural
JOURNALOFSOUTHEAST
Science
Edition)
DOI:10.3969/j.issn.1001-0505.2019.01.014
黼
水下滑翔蛇形机器人滑翔运动
建模与优化控制
唐敬阁1’2’3
李
斌1’2
常
健1’2
王
聪1’2
张国伟1’2
(1中国科学院沈阳自动化研究所机器人学国家重点实验室,沈阳l 10016)
(2中国科学院机器人与智能制造创新研究院,沈阳110016)
(3中国科学院大学,北京100049)
摘要:为了实现水下滑翔蛇形机器人滑翔轨迹的稳定控制,针对机器人的外形和尺寸受限问题,
对机械结构进行了设计与分析.基于所设计的机械系统,采用动量定理和动量矩定理,建立滑翔
运动的数学模型.对非线性模型进行线性化,并采用最优二次型控制策略(LQR)设计状态反馈
控制器.为了增强系统对参数扰动的鲁棒性,加入积分控制,构成LQI控制器.通过仿真对2种
控制策略的稳定性、鲁棒性和跟踪误差进行分析,结果表明,2种控制策略均能实现渐近轨迹跟
踪和输入扰动抑制;LQI控制器还可以实现水动力参数扰动抑制;LQI控制器的稳态跟踪误差为
0.271
5m,比LQR控制器跟踪误差降低了27.58%.
关键词:水下滑翔蛇形机器人;LQR控制器;LQI控制器;轨迹跟踪;滑翔运动
中图分类号:TP242.3
文献标志码:A
文章编号:1001—0505(2019)Ol-0094-07
and
control on
motion of
gliding
Modeling
optimal
snake-like robot
underwater
gliding
Li Binl'2
Jianl'2
Guoweil’2
Zhang
Wang Con91'2
Tang Jinggel· 2'3
Chang
Institute
of
State
110016,China)
(1
Key Laboratory ofRobotics,Shenyang
ofAutomation,Chinese Academy
Sciences,Shenyang
of
Institutes for Robotics and
110016。China)
(2
Intelligent Manufacturing,Chinese Academy
Sciences,Shenyang
100049,China)
Sciences,Beijing
of
(3
of Chinese
Academy
University
achieve stable control of
for theunderwater
snake—like
robot,
Abstract:To
gliding trajectory
gliding
and size limitation of the
of
shape
a
mechanical structure was
and
for the
problem
designed
analyzed
mechanical
mathematical model for the motion was
gliding
robot.Based on the
designed
system.a
using momentum theorem and moment of momentum theorem.The nonlinear model
established
by
linear
was linearized and the state feedback controller was
designed'using
the
quadratic regulator
tO
disturb·
control
enhance the robustness of
(LQR),all optimal
strategy.To
system
parameter
stabil—
control was added to form
a
linear
ances.the integral
quadratic integral(LQI)controller.The
and the
error of the two control
Can achieve
were
simulation.
robustness
ity.the
Theresults show that
turbance
tracking
strategies
analyzed by
both control
and
dis—
strategies
asymptotic trajectory tracking
input
can also achieve disturbance
on
rejection.LQI
error of
rejection
it iS 27.58%lower than that of
is 0.271 5 m.and
hydrodynamic parameters.The
state
steady
tracking
LQI
LQR.
snake-like
gliding
words:underwater
robot;linear quadratic regulator(LQR)controller;linear
motion
Key
quadratic integral(LQI)controller;trajectory following;gliding
形机器人‘H1模仿生物蛇的运动方式,具有机动性
好、运动灵活的特点.然而,水下蛇形机器人的运动
在水环境监控和水下设备检测等任务中,要求
水下机器人具有较好的续航能力和机动性.水下蛇
收稿日期:2018-07-04.
作者简介:唐敬阁(199l一),女,博士生;常健(联系人),男,博士,副研究员,changjian@sia.cn.
基金项目:国家重点研发计划资助项目(2017YFBl300101).
引用本文:唐敬阁,李斌,常健,等.水下滑翔蛇形机器人滑翔运动建模与优化控制[J].东南大学学报(自然科学版),2019,49(1):94—100
IX)I:10.3969/j.issn.1001—0505.2019.01.014.
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