6自由度水下机器人动力学分析与运动控制

对6自由度水下机器人的动力学与运动控制进行研究。首先考虑重力、浮力、推力以及水动力的影响，建立水下机器人的动力学模型，对机器人的复杂水下动力学行为进行描述。在此基础上，根据解出加速度法设计非线性控制器，包括内外两个控制回路。其中外控制回路根据机器人实际轨迹与期望轨迹之间的偏差进行负反馈控制，内控制回路根据机器人动力学特性引入非线性补偿，把机器人转化为一个更易于控制的线性系统，从而准确实现对理论轨迹的跟踪。最后对水下机器人跟踪目标进行运动控制仿真。从仿真结果可以看出，利用该方法可以使水下机器人具有良好的轨迹跟踪能力。

DYNAMIC ANALYSIS AND MOTION CONTROL OF 6-DOF UNDERWATER ROBOT

Dynamic analysis and motion control of the 6-DOF underwater robot are researched.Firstly,considering the com-prehensive influence caused by factors such as the gravity,buoyancy,driving forces,hydrodynamic forces,etc.,dynamic equations of the underwater robot are established,which can describe the complicated underwater dynamic behavior of the robot.Then,in order to track the desired trajectory accurately,a nonlinear controller,which includes an outer loop and an inner loop,is designed using resolved acceleration method.In the outer loop,negative feedback is used to correct the deviation between the actual path and desired path.In the inner loop,based on the robot's dynamic properties,the nonlinear com-pensation is imported to simplify the robot system to a linear system and make it easier to control.Finally,simulations of the underwater robot tracking an object are taken.Simulation re-sults show that the method can provide satisfactory trackingability for underwater robots.