The Study On Motion Control Of Operational Underwater Veciles

At present,land resources are increasingly scarce,and marine resources have gradually become the focus of human attention.As one of the important equipment for the development of marine resources,underwater vertical-manipulator systems(UVMS)have gradually become marine development research due to their unique structures and the diversity of execution tasks.Hot spots in.UVMS is mainly composed of an underwater vertical system and an underwater verticalic arm system.Both systems have strong coupling and time-varying characteristics.Therefore,the coordinated control of the two systems is particularly critical.It is also the focus and difficulty of UVMS in completing underwater control tasks.This article first constructs the UVMS corresponding coordinate system,and puts the underwater vertical system and the underwater verticalic arm system in the corresponding coordinate system,and derives the kinematics and dynamics models of the two subsystems respectively according to related principles.Based on this,Newton-The Euler kinetic analysis method obtains the overall UVMS dynamic model,which lays the mathematical foundation for subsequent analysis.Secondly,based on the established dynamic model of the underwater manipulator system,an RBF neural network adaptive controller based on HJI theory is designed.The two-degree-of-freedom underwater manipulator is used as the control object.The trajectory tracking control of the underwater verticalic arm is simulated under unknown interference conditions.Through the analysis of the simulation results,it is verified that the designed controller has good control performance and strong robustness,and the controller has certain feasibility.Based on the constructed dynamic model of the underwater vertical system,the dynamic model of the vertical plane of the underwater vertical system is obtained through the dynamic decoupling method.The inversion with nonlinear disturbance observer(NDO)compensation is designed based on the vertical plane dynamic model,.The sliding mode adaptive controller observes the system model uncertainty and external disturbances and compensates the system to achieve the stability of the control system.The system stability is proved by the Lyapunov function.The inverse sliding mode adaptive controller without NDO is compared with the designed controller for simulation verification.The simulation results prove that the designed control canbetter observe the model uncertainty and unknown disturbances,and achieve a good real-time compensation of the system.Control effect,with better control performance.Finally,based on the established dynamic model of the underwater vertical system,an adaptive sliding mode controller based on local model approximation is designed to control the six-degree-of-freedom motion of the underwater vertical.The simulation in the still water environment verifies that the controller can complete the underwater vertical.The motion control of the vertical is obtained,and the nominal model parameters of the underwater vertical are obtained,and then the forces and moments generated during the movement of the underwater verticalic arm are input into the underwater vertical system in the form of external interference according to the Newton-Euler iterative method.The design is based on The adaptive robust coordination controller of the RBF compensation term,through simulation analysis in the still water environment and seawater interference environment,verified that the coordination controller has good control performance in coordinated control,and can complete underwater vertical systems and underwater machinery.Coordinated control tasks of the arm system.