Dynamic Analysis And Control Of Underwater Vehicle-Manipulator System

With the development of the ocean, the demand of underwater operations equipment is increasing. The underwater robot with manipulators can complete the complicated underwater operation tasks on the Marine environment and resource investigation and exploration work process. Thus it's important to study the dynamic modeling, motion control and working process stability of Underwater Vehicle– Manipulator System (UVMS).In this paper the product exponentials formula is applied to analyze the kinematics of UVMS, On the basis of kinematical analysis,continuing to seek the generalized forces and generalized inertial force,which course introduces the rational water dynamics equation for establishing the system hydrodynamic model,then based on Kane equation, dynamic model of UVMS is given out. Later, Using mechanical system dynamics analysis software ADAMS a certain UVMS simulation is done, and the result of this simulation is compared with Kane dynamic model. The advantages and disadvantages of two kinds of modeling method is compared.In order to control the UVMS, This paper uses ADAMS and MATLAB joint simulation to prove the precise location of the manipulator. Then the torque-based position control,and the torque-based force/position control is done respectly. From the numerical analysis the position of the manipulator can be further realized and the force of the actuator is controlled.During the process of the UVMS working, the external environment will produce some water resistance to UVMS, in order to study the influence of the water resistance to the UVMS during the working process , ensure operation task smoothly, Using Fluent analyzes the hydrodynamics of the UVMS. And in the process of simulation, the simulation results of water resistance coefficient and literatures were compared to the experimental data.