Research On Fixed-point Control Of Two-degree-of-freedom Manipulator Under Random Wave Interference

With the improvement of people's living standards,people's demand for fishery resources is also increasing,which promotes the rapid development of aquaculture,and the fishing methods of aquatic products are gradually changing.At present,the sea cucumbers that are cultured for artificial cofferdams are mainly artificially harvested.Divers need to carry oxygen bottles or engage in underwater sea cucumbers under other oxygen supply equipment.This fishing method has high cost and high risk,and will cause great harm to the diver's body.Therefore,the development of a device that can replace the divers for automatic fishing operations has a huge market and broad prospects.However,the complexity of the marine environment,especially the interference of random waves,makes it difficult to keep the fishing position fixed.This paper takes the two-degree-of-freedom manipulator on the water platform as the research object,and takes the design and research of fixed-point control of the two-degree-offreedom manipulator as the starting point.The servo control system is established by studying the two-degree-of-freedom manipulator with fishing equipment to compensate Disturbance of random waves,to stabilize the fishing operation position under the disturbance of random waves.The main research work of this paper is as follows:1.To realize the fishing of underwater targets,design the structure of the water work platform and the two-degree-of-freedom robot arm,and select the appropriate components according to the relevant design indicators,so as to complete the hardware system construction of the water work platform and the two-degree-of-freedom robot arm.2.Design a two-degree-of-freedom robotic arm fixed-point control system,establish and analyze the dynamic model and spatial description of the two-degree-of-freedom robotic arm,and then introduce the working principle and control method of the permanent magnet synchronous motor to determine the servo control system model.Finally,the motion response model of the aquatic platform under random waves is analyzed to determine the input of the servo control system.3.Briefly introduce the development of control theory,and design the controller in the servo control system based on the system model.Simulation verification and analysis of the control performance of the system were performed by Matlab.4.For the position loop control system,the fuzzy PID is used to redesign the controller and give detailed design steps.At the same time,it is verified through simulation that the position loop servo system based on fuzzy PID control has better control effect.5.Design a two-degree-of-freedom robotic arm fixed-point compensation control experiment scheme,complete the ROS-based host computer control program and STM32-based motion control board design,and debug the host computer software and motion control board.Finally,the experimental results of the two-degree-of-freedom robotic arm fixed-point control system under random sea wave interference were verified through pool experiments.