Research On Motion Control Of An Underwater Spherical Robot

The research content of this article belongs to the project (51175048),as the main part for underwater detection. This paper is mainly about the analysis and research of the motion characteristics of the underwater spherical robot with propeller, flywheel and pendulum drive mechanism.Then design the control system which can satisfy the request.The main research contents of this thesis are as follows:(1)The dynamic analysis and modeling of underwater spherical robot are carried out. The underwater spherical robot is subjected to various forces when it is moving in the water(2) The obstacle avoidance path planning of underwater spherical robot is completed. By using the idea of ant colony algorithm, a path planning method for underwater vehicle is designed.(3) The trajectory tracking control of underwater spherical robot is realized. In this paper, the dynamic model of underwater spherical robot is designed, and the trajectory tracking controller is designed by using the finite time control law. The robot can track the designed trajectory according to the designed control law, and the effectiveness of the method is proved by simulation and experiment.(4) The depth control of underwater spherical robot is completed. On the basis of the established dynamic model, a kind of controller based on sliding mode variable structure controller is designed. And the effectiveness of the method is verified by simulation.(5) The 3D trajectory tracking control of underwater spherical robot is completed. On the basis of the dynamic model, a trajectory tracking control method based on the virtual velocity error variable backstepping is designed to realize the tracking control of the underwater spherical robot.The effectiveness of the method is verified by simulation experiments.