Research On The Control Method Of Underwater Booster Robot

In pace with the rapid development of artificial intelligence technology,more and more attention has been paid to the exoskeleton robots,which are used to enhance human motion ability.When human works in underwater,it is bound to be restricted by various factors of underwater environment.This research's robot can help underwater workers to get rid of the limitation of human function,enhance the strength of underwater movement and reduce the energy consumption of human body,so that workers can accomplish complex tasks underwater.The underwater environment is extremely complex and changeable,the coupling between the joints of the robot and the contact between the robot and the human body is uncertain,so this paper analyzes the underwater motion and the force of the robot,design the control algorithm,perfect the motion control system structure,and acquires the state information with the sensor.Therefore,the underwater robot has good motion control ability.This paper mainly studies the control method and implementation of underwater booster robot.First of all,the coordinate system of the robot connecting rod is established and the swimming kinematics model is analyzed.Using the Newton Euler dynamic analysis method,the pushing process of the robot is analyzed and the dynamic equation of the underwater robot is obtained,and the angle curve of the underwater swimming joint is obtained by using the swimmer's swimming video.Then focus on the control method.The structure of the control system of underwater booster robot,the motor control transfer function are established,and the parameters are obtained.On the basis of the PID control method,the joint simulation of Adams and MATLAB is used to get the defects of low disturbance resistance and slow response of the PID controller.A sliding mode controller is designed to use the saturation function in the switching gain part of the sliding mode control,and to a certain extent the buffeting is reduced.Considering the complexity of the system model,both the PD and the sliding mode controller increase the fuzzy control of the parameter on-line adjustment,but the track tracking effect is not obviously improved.In the motion controller,a partial force controller is generated instead of the desired trajectory,and the control method is achieved.The contact model between human leg and robot leg is added to Adams,which verifies the feasibility of force controller.Finally,we build an underwater booster robot control platform and test it.A dual core controller is designed based on TMS320F28335 and Spartan-6,making control hardware platform,exploiting control algorithm code and software.By testing the control algorithm on the real machine,and the validity of the sliding mode control is obtained.The underwater booster robot system is tested in the pool,and the PD sliding mode hybrid control algorithm has a good effect.