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针对水下机器人运动和作业过程中的有效载荷变化使得机器人动态特性也相应地发生变化的特点,以开架式无缆水下机器人为研究对象,在对其动力学模型进行简化的基础上,提出了一种基于稳态自适应技术的在线参数辨识方法,进行了与基于最小二乘法的离线参数辨识的对比实验以及水下机器人特性发生变化时的在线辨识实验,水池实验结果验证了基于稳态自适应技术的参数在线辨识方法对开架式水下机器人进行系统辨识的有效性和可行性。
In view of the characteristic that the dynamic characteristics of robots change due to the changes of the payloads during the movement and operation of underwater vehicles, this paper takes the open-frame cableless underwater robots as the research object, and on the basis of simplifying the dynamic model, An online parameter identification method based on steady-state adaptive technology is presented. The comparison experiment with offline parameter identification based on least squares method and the online identification experiment when the characteristics of underwater robots are changed are carried out. The effectiveness and feasibility of on-line identification of adaptive technology for system identification of open-frame underwater vehicles.