Structure Design And Research On Adaptive Control Of A 7-Function Underwater Manipulator

Underwater robots have been paid an increasingly attention with deep exploration of ocean resources. Underwater manipulator, as a universal working tool, has been regarded as the first choice of underwater robot. The technology of a 7-function underwater manipulator is researched in this paper under difficulties such as the adverse circumstances, limits of energy supply, nonlinear and time varying of system and so on.According to the analysis on the manipulator of home and abroad, the theory of integrated design, and requirements of underwater job, this paper proposes whole feasible scheme of manipulator, and determines the basic technique index,driving method and materials and then designs system structure of 7-function underwater manipulator. The manipulator mechanical parameters are compared and selected. In the other hands, the three-dimension design is completed by pro-e and strength is checked using ANSYS.The servo control system on 7-function underwater manipulator and its mathematical model are established based on adaptive control theory. The properties are analyzed. The model reference adaptive control is adopted and compared with PID. The results of simulation show that the adaptability of model reference adaptive control is better than PID. At the same time, model reference adaptive control restrains the influence of model error, external interference and parameters changes form system itself. The dynamic performance, control precision, stability and response of the control system are improved due to the model reference adaptive control.