气控式水下机器人建模与动态性能分析

为了填补民用浅海领域水下机器人产品的空白,提出并设计一种基于气控技术的水下探测机器人。该机器人装备了水下摄像头,可以使用于近海养殖行业对水下环境和鱼类生长情况进行实时监控。水下机器人运动时要求具备稳定的动态性能,而水下工作环境多变,会使机器人运动精度受到影响。针对该机器人潜浮过程设计一个闭环控制系统,通过动态反馈来纠正速度偏差。介绍了该闭环控制系统的组成和工作原理,在此基础上推导了系统各部分的传递函数和总传递函数,并采用PID校正调节系统参数,从而确保了系统的可行性和稳定性。

Modeling and Dynamic Performance Analysis of Pneumatic Control Type Underwater Robot

In order to fill the gap of the underwater robot at shallow sea area, an underwater detecting robot based on pneumatic technology was designed and put forward.The robot was equipped with underwater camera which could be used as real-time monitoring of underwater environment and fish growth at inshore cultivation.Stable dynamic performance was required when the underwater vehicle was moving.However, the robot motion precision could be affected due to the ever-changing underwater work environment.A closed-loop control system was designed for the diving process of the robot, and the velocity deviation was corrected through the dynamic feedback.The composition and working principle of the closed loop control system were introduced.Based on this, the transfer function of each part and the whole system are deduced, adopting proportion integration and differential (PID) to regulate system parameters so as to make sure the feasibility and stability of the system.