设计和管道跟踪控制与混合推进的水下仿生车辆操纵系统的设计和管道跟踪控制
IEEE transactions on cybernetics
|May 28, 2025
概括
这项研究引入了一种水下仿生车辆操纵系统 (UBVMS),用于精确的管道跟踪. UBVMS使用仿生来提高机动性和控制能力,克服了水下机器人的挑战.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 海洋工程 海洋工程
- 生物模拟学是一种生物模拟学.
背景情况:
- 水下车辆操纵系统 (UVMS) 对于水下任务,如监控和管道维护至关重要.
- 由于UVMS的复杂性,难以准确跟踪水下管道,包括非线性,强合和低功率.
研究的目的:
- 提出一个水下仿生车辆操纵系统 (UBVMS) 和一个基于机器人视觉的管道跟踪控制方法.
- 解决管道跟踪UVMS中非线性,强合和低功率的挑战.
主要方法:
- UBVMS 结合了仿生波动推进器 (灵感来自鱼的中间/配) 以提高机动性和稳定性,以及仿生推进器 (灵感来自身体/尾推进) 以提高加速.
- 开发了一种跟踪控制算法,具有适应性重量系数,以增强姿势稳定性.
- 构建了一个模糊规则映射模型,以定义仿生推进器控制参数和推进力/扭矩之间的非线性关系.
主要成果:
- 仿生推进器在机动性,稳定性和加速性方面提供了明显的优势.
- 适应性控制算法改善了UBVMS的姿势稳定性.
- 模糊规则映射模型有效地描述了推进器的复杂非线性动力学.
结论:
- 拟议的UBVMS及其相关控制策略对于水下管道跟踪是有效和可行的.
- 仿生设计和先进的控制方法为复杂的水下机器人应用提供了有希望的解决方案.
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