H型倾转推进两栖机器人水下姿态自抗扰控制

针对水陆两栖机器人推力不稳和环境扰动造成的姿态不稳定问题，设计了一种新型的将轮驱动与喷水推进进行复合的可倾转复合推进装置。将该可倾转复合推进装置应用在H构型两栖机器人中，基于推力倾转角分离控制策略和自抗扰控制原理设计了姿态自稳定控制器，并在耦合自由度上采用异步调节机制。使用Simulink/ADAMS联合仿真平台进行姿态稳定仿真验证，并确定了具有较好效果的控制器参数；物理样机运行实验表明，H型两栖机器人可以完成预设运动，姿态自稳定控制器能够将该机器人水下运行时的姿态抖动抑制在5°以内。

Active disturbance rejection control of underwater attitude of H-type tilting propulsion amphibious robot

For the problem of amphibious robots thrust disturbance caused by the instability and environmental attitude instability, a new kind of water jet propulsion with driving wheels is designed which can be rotated compound propulsion system. In the H amphibious robot configurations application, the tilt angle separation control strategy based on the thrust and the immunity control principle stance was designed, and the asynchronous adjustment mechanism is adopted in the coupling degree of freedom. Finally, Simulink/ADAMS co-simulation platform is used to simulate and verify the attitude stability, and the controller parameters with good effect are determined. The experimental results of the physical prototype show that the h-type amphibious robot can complete the preset motion, and the attitude self-stabilization controller can restrain the attitude jitter of the robot within 5° when it runs underwater.