Control System Research On Spherical Underwater Robot With Flywheel Steering Apparatus

This thesis comes from the Natural Science Fund Project 'Design and Research on an Amphibious Spherical Robot'(51175048).The main purpose is to design the control system which can suit the request of a spherical underwater robot with flywheel steering apparatus.In details,the following aspects are contained in this dissertation:(1)Based on the studying outcome of the existing underwater robot structures,the advantages and disadvantages of the two different type of spherical robot were analyzed,which has three propellers and flywheel steering apparatus separately.The flywheel steering apparatus was optimized.(2)On the basis of the structure characteristics of the spherical underwater robot with flywheel steering apparatus,the robot dynamic equations was set up by using Newton Euler method.The robot linear motion was simulated.(3)According to the dynamic equations,the sliding-mode controller with exponential approach law was designed.This kind of controller has some advantages such as high steering speed,low overshoot,high robustness and high anti-interference ability.And steering and trajectory tracking were simulated.(4)Based on the function requirements and the structure feature,the control system was designed.The control system is composed of three components as upper computer,middle control section and bottom control section.(5)In order to test the availability of the sliding-mode controller,the experiment were carried about both linear motion and steering motion.