Research On Subsea7Function Maser-Slave Manipulator And Its Nonlinear Robust Control

Mounted on the subsea undwater vehicle, subsea seven functions master-slave hydraulic manipulator greatly extens people’s capability in the development of marine resources, marine scientific reaseachs and subsea operational capabilities, ect., The studies on the subsea seven function maser-slave hydraulic manipulator system and its joint position tracking control methods have important significance.This dissertation focuses on the study of seven function master-slave hydraulic manipulator system and it nonlinea robust control methods. A new elbow structure of the slave manipulator based on the pressure compensated ring using the double-srew-pair transmission method is proposed, which solved the problems of low speed and high torque, large swing angles, oil and electricity distribution functions and high integration of the elbow of the slave manipulator. Using the elbow of the slave manipulator as the study object, the nonlinear robust control method of the elbow system, which has parametric uncertainties, uncertain outer disturbances and partial feedbacked states, was studied. Based on the subsea seven fuction master-slave hydraulic manipulator of National High Tech. Development Project of4500meters class deep sea operational systems, which was successfully developed, a multi-input mulit-output(MIMO) roubust nonlinear control method focusing on slave manipulator control system in presents of parametric uncertainties, strong nonlinearities, strong couples between hydro-mechanical systems as well as partly feedbacked states is proposed, which solved the joint positons tracking problems of the slave manipulator.This dissertation is divided into seven chapters, each chapter is summarized as follows:In the first chapter, the histrory developments and current status of subsea seven function master-slave hydraulic manipulators were introduced. The advantages and shorotcomings of subsea seven function master-slave manipulator were also been analyzed. The elbows of current prevailing subea hydraulic manipulators were been reviewed. Then the current popular manipulator control methods were introduced. Finally, the research significance, research difficulties and research contents were presented.In chapter two, the development background of the subsea seven function master-slave hydraulic manipulator was introduced, and then its total structure and sub-systems along with their features and performance were also described briefly.In chapter three, according to the problems of oil and electricity distribution function, low speed high torque, large swing angles of highly integrated slave manipulator elbow, a new kind of slave manipulator elbow based on the double-screw transmission principle is proposed, in this chapter, the research background of the elbow was introduce firstly, then with the detailed sutdy of the kinematics and dynamics model of the various hydraulic driving double-screw-pair trasmisision configurations, a swinging elbow structure of slave manipulator based on the double-screw-pair transmission under hydraulic drive, wich had the function of oil and electricy distribution, was proposed based on the pressure compensated ring; Finally, the kinematics and dyanimcs character of developed slave mainpulator elbow was verified under the labotory, which tesified its well low speed high torque driving character which satisfied the requirements of the subsea seven function master-slave hydraulic manipulator.In chapter four, for the slave manipulator elbow joint angle position tracking systems with parameter uncertainties and strong hydro-mechanical coupled nonlinearity characters, taking the advantages of Backstepping controller design method, a full state feeback robust adaptive control algorithm is proposed. By the Lyapunov stability design method, the global stability and convergence of full state feedback robust adaptive controller close-loop system is guarenteed under parameter uncertainties. For the slave manipulator elbow joint position tracking with parameter uncertainties and partial states feedback, a novel robust adaptive controller based on the robust observer is designed. Simulation and experiments showed that the proposed controllers have perfect control performance and robust character, the observe error of position and velocity is converged fairly well. The proposed robust adaptive control algorithm based on the robust observer could also be applied to multi input-output variables control of subsea seven function master-slave hydraulic control system.In chapter five, for the requirement of accurary plant modeling for model based control design, the D-H coordinate transformation and its transformation matrix of slave manipulator were analysised, and then the end-effector Jacobian matrix and all links Jacobian matrix of slave were established, which could be used to develop the total kinematic and potential energy of the salve manipulator. Based on the Larange energy method, the dynamic equation of slave manipulator was derived. The way to aquire the linkage mass attribution was also discussed in detail. And to apply the dynamic equation of slave manipulator to subsea environment, the potential-energy-like force was compensated. The method to develop miltibody dynamics simulation model in Matlab/simulink software was alse discussed.finally, the accurate of slave manipulator mulit-body dynamic model was verified with the control of PD controller with gravity compensation, and the estabilished mulit-body dynamic model could be applied to the study of position tracking control of slave manipulator of subsea seven function master-slave manipulator systems.In chapter six, for the MIMO robust positon tracking control of slave manipulator of subsea seven function master-slave maniputor with parametric unceranities, external unknow disturbances and strong hydro-mechical coupled nonlinearities. A multi-variable sliding mode robust control method with Backstepping controller design method is proposed, with the help of Backstepping design method, the coupled hydro-mechanical system was decoupled, and by the Lyapunov stability design mehod, the global stability of closed loop system was guaranteed. The simulation and experiments on the slave manipulator showed that the proposed controlled had fairly well control performance and robustness. And based on the control method propsed in chapter four, a novel MIMO robust adaptive controller based on robust observer is discussed, which theoreticall solved the control problems with partial feedbacked states, parameter uncertainties and strong hydro-mechanical coupled nonlinearities of slave manipulator of subsea seven function slave-master hydraulic manipulator.In chapter seven, the main work results and innovations of the dissertation were summarized. Future work and the research orientation of the subsea seven function master-slave hydraulic manipulator were also prospected.