【作者】 罗高生；

【导师】 顾临怡； 李世伦；

【作者基本信息】 浙江大学 ， 机械电子工程， 2013， 博士

【摘要】 搭载在水下运载器上的深海七功能主从液压机械手扩展了人类在海洋资源开发、海洋科学研究和深海水下作业等方面的作业能力,对于深海七功能主从液压机械手及其关节位置跟踪控制方法的研究具有重要的意义。本文研究了深海七功能主从液压机械手系统及其非线性鲁棒控制方法。论文提出了一种新的基于液压补偿环的双螺旋传动的从手肘关节结构,解决了从手肘关节的低速大扭矩、大摆角、配油配电和高度集成化问题；以从手肘关节研究对象,研究了具有参数不确定、未知外界扰动和部分状态反馈的肘关节非线性鲁棒控制方法；在成功研制了国家高技术研究发展计划4500米级深海七功能主从液压机械手的基础上,提出了针对具有参数不确定性、强非线性、液压系统和机械系统强耦合以及部分状态反馈的深海主从液压机械手从手系统的多输入多输出非线性鲁棒控制方法,解决了从手关节位置的跟踪控制问题。本文共分为七章,各章内容概括如下：第一章,介绍了深海七功能主从液压机械手系统的发展历史和现状,指出当前深海七功能主从液压机械手系统的难点和不足；介绍了目前深海七功能主从液压机械手从手的肘关节实现的各种方法；并回顾了当前比较流行的各种机械手控制方法；最后阐述了本课题的研究意义、研究难点和研究内容。第二章,介绍了深海七功能主从液压机械手系统的开发背景、总体结构设计、各分系统组成,以及各子系统的性能特点等。第三章,针对当前深海七功能主从液压机械手从手肘关节的配油配电、低速大扭矩、大摆角、高度集成的问题,提出基于液压补偿环的、具有配油配电功能的、双螺旋传动的从手肘关节结构。本章首先介绍从手肘关节的研究背景,详细研究了双螺旋液压传动的各种配置、运动学和动力学模型,在此基础上提出了基于压力补偿环的双螺旋液压摆动传动和具有配油、配电功能的深海七功能主从液压机械手从手肘关节。最后通过台架试验验证所研究的深海七功能主从液压机械手从手肘关节运动学特性和动力学特性,证明了深海七功能主从液压机械手从手肘关节良好的低速大扭矩传动特性。第四章,针对存在参数不确定性、液压系统和机械系统强耦合、强非线性特性的从手肘关节角度位置跟踪控制问题,提出了基于鲁棒自适应控制的全状态反馈非线性鲁棒控制方法,该方法是基于Backstepping控制设计方法和鲁棒自适应控制方法,使用Lyapunov稳定性理论,证明了当存在系统参数不确定时闭环系统的全局渐近稳定性和跟踪误差的渐近收敛性。仿真和实验研究表明,所提出的全状态反馈非线性鲁棒自适应控制方法具有良好的控制品质和鲁棒性能。本章还针对同时具有参数不确定性和部分状态反馈的深海七功能主从液压机械手从手肘关节的非线性鲁棒控制问题,提出了基于鲁棒观测器的鲁棒自适应控制方法,解决参数不确定性和部分状态反馈同时存在的控制难点问题。通过仿真研究和实验表明基于鲁棒观测器的鲁棒自适应控制器具有很好的控制品质和鲁棒性能,观测器的观测位置和速度误差具有较好的收敛性。第五章,针对基于模型控制的控制器设计对受控系统精确模型要求,详细分析了深海七功能主从液压机械手从手的D-H坐标变换矩阵,并以此为基础建立了末端执行器的雅克比矩阵和各个从手连杆质心的雅克比矩阵,从而得到机械手从手多刚体系统的总动能和势能,利用拉格朗日能量法建立机械手从手的多刚体动力学方程。文中还讨论了从手各连杆质量属性的获得以及应用到深海水场合下的液压机械手从手动力学模型势能力补偿方法；文中还介绍了利用MATLAB/Simulink仿真软件(?)Pro/Engineering接口直接建立深海七功能主从液压机械手从手的多刚体动力学Simulink仿真模型。最后通过应用具有重力补偿的PD控制器对深海七功能主从液压机械手从手的多刚体动力学模型进行位置跟踪仿真来验证所建立的模型的正确性。第六章,针对具有参数不确定性、液压和机械系统强非线性耦合特性的深海七功能主从液压机械手从手的多输入多输出关节位置跟踪的鲁棒控制问题,提出了基于滑模控制的多变量输入输出非线性鲁棒控制方法,利用Backsteping控制器设计方法,对液压机械手系统进行解耦控制,使用基于Lyapunov稳定性理论的设计方法保证了控制器的稳定性和渐进收敛的特性,通过在4500米级深海七功能主从液压机械手实验平台上的仿真和实验研究表明,所提出的控制方法具有很好的控制品质和鲁棒性能。本章还利用第四章提出的基于鲁棒观测器的鲁棒自适应控制器设计方法,研究机械手从手基于鲁棒观测器的多输入多输出鲁棒自适应控制方法,从理论上解决了具有参数不确定性、未知外界干扰、部分状态反馈以及液压系统和机械系统强非线性耦合的位置跟踪控制问题。第七章,总结归纳了本文的主要研究工作和创新点,对深海七功能主从液压机械手前沿研究作出展望以及未来所需要继续开展的工作。更多还原

【Abstract】 Mounted on the subsea undwater vehicle, subsea seven functions master-slave hydraulic manipulator greatly extens people’s capability in the development of marine resources, marine scientific reaseachs and subsea operational capabilities, ect., The studies on the subsea seven function maser-slave hydraulic manipulator system and its joint position tracking control methods have important significance.This dissertation focuses on the study of seven function master-slave hydraulic manipulator system and it nonlinea robust control methods. A new elbow structure of the slave manipulator based on the pressure compensated ring using the double-srew-pair transmission method is proposed, which solved the problems of low speed and high torque, large swing angles, oil and electricity distribution functions and high integration of the elbow of the slave manipulator. Using the elbow of the slave manipulator as the study object, the nonlinear robust control method of the elbow system, which has parametric uncertainties, uncertain outer disturbances and partial feedbacked states, was studied. Based on the subsea seven fuction master-slave hydraulic manipulator of National High Tech. Development Project of4500meters class deep sea operational systems, which was successfully developed, a multi-input mulit-output(MIMO) roubust nonlinear control method focusing on slave manipulator control system in presents of parametric uncertainties, strong nonlinearities, strong couples between hydro-mechanical systems as well as partly feedbacked states is proposed, which solved the joint positons tracking problems of the slave manipulator.This dissertation is divided into seven chapters, each chapter is summarized as follows:In the first chapter, the histrory developments and current status of subsea seven function master-slave hydraulic manipulators were introduced. The advantages and shorotcomings of subsea seven function master-slave manipulator were also been analyzed. The elbows of current prevailing subea hydraulic manipulators were been reviewed. Then the current popular manipulator control methods were introduced. Finally, the research significance, research difficulties and research contents were presented.In chapter two, the development background of the subsea seven function master-slave hydraulic manipulator was introduced, and then its total structure and sub-systems along with their features and performance were also described briefly.In chapter three, according to the problems of oil and electricity distribution function, low speed high torque, large swing angles of highly integrated slave manipulator elbow, a new kind of slave manipulator elbow based on the double-screw transmission principle is proposed, in this chapter, the research background of the elbow was introduce firstly, then with the detailed sutdy of the kinematics and dynamics model of the various hydraulic driving double-screw-pair trasmisision configurations, a swinging elbow structure of slave manipulator based on the double-screw-pair transmission under hydraulic drive, wich had the function of oil and electricy distribution, was proposed based on the pressure compensated ring; Finally, the kinematics and dyanimcs character of developed slave mainpulator elbow was verified under the labotory, which tesified its well low speed high torque driving character which satisfied the requirements of the subsea seven function master-slave hydraulic manipulator.In chapter four, for the slave manipulator elbow joint angle position tracking systems with parameter uncertainties and strong hydro-mechanical coupled nonlinearity characters, taking the advantages of Backstepping controller design method, a full state feeback robust adaptive control algorithm is proposed. By the Lyapunov stability design method, the global stability and convergence of full state feedback robust adaptive controller close-loop system is guarenteed under parameter uncertainties. For the slave manipulator elbow joint position tracking with parameter uncertainties and partial states feedback, a novel robust adaptive controller based on the robust observer is designed. Simulation and experiments showed that the proposed controllers have perfect control performance and robust character, the observe error of position and velocity is converged fairly well. The proposed robust adaptive control algorithm based on the robust observer could also be applied to multi input-output variables control of subsea seven function master-slave hydraulic control system.In chapter five, for the requirement of accurary plant modeling for model based control design, the D-H coordinate transformation and its transformation matrix of slave manipulator were analysised, and then the end-effector Jacobian matrix and all links Jacobian matrix of slave were established, which could be used to develop the total kinematic and potential energy of the salve manipulator. Based on the Larange energy method, the dynamic equation of slave manipulator was derived. The way to aquire the linkage mass attribution was also discussed in detail. And to apply the dynamic equation of slave manipulator to subsea environment, the potential-energy-like force was compensated. The method to develop miltibody dynamics simulation model in Matlab/simulink software was alse discussed.finally, the accurate of slave manipulator mulit-body dynamic model was verified with the control of PD controller with gravity compensation, and the estabilished mulit-body dynamic model could be applied to the study of position tracking control of slave manipulator of subsea seven function master-slave manipulator systems.In chapter six, for the MIMO robust positon tracking control of slave manipulator of subsea seven function master-slave maniputor with parametric unceranities, external unknow disturbances and strong hydro-mechical coupled nonlinearities. A multi-variable sliding mode robust control method with Backstepping controller design method is proposed, with the help of Backstepping design method, the coupled hydro-mechanical system was decoupled, and by the Lyapunov stability design mehod, the global stability of closed loop system was guaranteed. The simulation and experiments on the slave manipulator showed that the proposed controlled had fairly well control performance and robustness. And based on the control method propsed in chapter four, a novel MIMO robust adaptive controller based on robust observer is discussed, which theoreticall solved the control problems with partial feedbacked states, parameter uncertainties and strong hydro-mechanical coupled nonlinearities of slave manipulator of subsea seven function slave-master hydraulic manipulator.In chapter seven, the main work results and innovations of the dissertation were summarized. Future work and the research orientation of the subsea seven function master-slave hydraulic manipulator were also prospected.更多还原