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水下机械臂在海洋工程施工中应用的比较广。由于它的特殊工作环境,控制非常困难,提出了模糊CMAC控制方法,介绍了模糊CMAC结构框图,分析了水下机械臂的动力学方程。以SIWR-Ⅱ型水下机械手为仿真原型,根据机械臂的实际控制系统结构及参数,对模糊CMAC控制方法进行了仿真,仿真结果表明,此方法具有较高精度的轨迹追踪能力,控制效果要好于PID方法。
Underwater robots in marine engineering construction is widely used. Because of its special working environment, the control is very difficult. The fuzzy CMAC control method is proposed. The block diagram of the fuzzy CMAC is introduced and the dynamics equations of the underwater manipulator are analyzed. Based on SIWR-II underwater manipulator, the fuzzy CMAC control method is simulated according to the actual control system structure and parameters of the manipulator. The simulation results show that this method has better tracking ability and better control effect PID method.