论文部分内容阅读
介绍了水下球形探测器BYSQ-3的内部结构和工作原理,建立了水下球形探测机器人的运动学和动力学模型.利用微分同胚变换和控制输入变换对模型进行初步解耦,分解为2个子系统.其中第2个子系统为2个双积分器组成的级联系统,通过设计有限时间镇定控制律,可以保证部分状态在有限时间内收敛到0,并使整个系统较快地实现全局渐近稳定.整个过程无虚拟控制量,比传统的非线性设计方法更利于工程实现和节省能源.仿真和实验结果表明,该有限时间控制律具有较快的收敛速度和良好的稳定性,超调量小于5%.
The internal structure and working principle of the underwater spherical detector BYSQ-3 are introduced, and the kinematics and dynamics model of the underwater spherical detection robot is established. The model is preliminarily decoupled by using diffeomorphism transformation and control input transformation, and is decomposed into 2 subsystems, of which the second subsystem is a cascade system composed of two double integrators. By designing the control law for a finite time, we can ensure that some states converge to 0 in a finite time and make the whole system achieve global Asymptotically stable.The whole process has no virtual control quantity, which is more conducive to project realization and energy saving than the traditional nonlinear design method.The simulation and experimental results show that the finite-time control law has faster convergence rate and better stability, Adjust less than 5%.