水下焊接机器人变质心补偿控制

为了补偿由于3自由度直角坐标式机械臂移动引起的HITUWV水下焊接机器人质心变化，提出基于变质心模型的自适应滑模控制方法（CVM-ASMC）．首先建立机器人变质心模型，精确地描述水下焊接机器人的变质心特性．随后，设计基于变质心模型的自适应滑模控制器，实现高精度变质心补偿．实验结果表明，相较于传统PID（比例－积分－微分）控制器与基于模型的PID控制器，提出的CVM-ASMC具有更高的精确性、更好的稳定性以及更低的能耗．因此，CVM-ASMC可以满足水下作业稳定与高精度运动控制要求．

Centroid Variability Compensation Control of Underwater Welding Vehicle

In order to compensate the centroid variability of the underwater welding vehicle (named HITUWV) caused by the movements of the 3-DOF (degree of freedom) Cartesian-type manipulator, a centroid-variability model based adaptive sliding mode controller is proposed. Firstly, a centroid variability model (CVM) of HITUWV is established to describe the centroid variability characteristics of HITUWV accurately. Then, a centroid-variability model based adaptive sliding-mode controller (CVM-ASMC) is designed, to realize a high-accuracy compensation of the centroid variability. Experimental results indicate that the proposed CVM-ASMC demonstrates a higher accuracy, a better stability and a lower power consumption than the conventional PID (proportional-integral-differential) controller and the model-based PID controller. As a result, CVM-ASMC can meet the control requirement of underwater operation with high stability and accuracy.