Research On UVMS Sliding Mode Control Method Under Disturbance Conditions

Underwater Vehicle Manipulator System(UVMS)is a powerful tool for marine resource exploration and development.Due to the intricate marine environment,many disturbance factors and difficult to control,in recent years,UVMS underwater high-precision operation under disturbance conditions has become a new research hotspot.Under the funding of the National Natural Science Foundation of China scientific research project(51809128)and Zhenjiang City’s Industrial Foresight and Generic Technology Project(GY2018018),this subject has carried out research on the UVMS sliding mode control method under disturbance.The main research includes the following aspects:First of all,the overall plan and control system design of UVMS for the actual marine environment.The UVMS system includes the underwater robot body,manipulator,ground console and power supply communication cable.After separately designing the UVMS hardware and software,according to the control device,the execution device,and the sensing device,the classification research is carried out,and the UVMS power vector layout matrix is calculated,so as to establish the foundation for the subsequent accurate modeling.Secondly,the mathematical modeling and analysis of UVMS under disturbance conditions.Firstly,the kinematics and dynamics of the underwater robot body and the manipulator are modeled,and then the dynamic model of the underwater robot body is analyzed for unknown external disturbances,and the coupling effect of the underwater manipulator model is studied.The use of a redundant system discrete control method effectively simplifies the control requirements and design difficulty,and achieves an optimized control effect.Thirdly,the research on the control method of UVMS underwater sliding mode under disturbance conditions.Taking the fixed depth control in hovering mode as an example,after establishing the vertical plane decoupling control model of UVMS,the adaptive sliding mode control method of UVMS based on disturbance observation is studied.The nonlinear disturbance observation is used to estimate the external unknown disturbance in real time,and the adaptive sliding mode method is used for compensation control.The simulation experiment verifies that the control method can effectively compensate for sudden disturbance items,and does not produce obvious pitch motion,has strong robustness,and provides a reliable and stable base for underwater manipulator operations.Fourthly,research on the control method of UVMS manipulator based on dynamic base under disturbance conditions.The backstepping adaptive sliding mode control method is adopted to suppress the disturbance of the manipulator base under the coupling effect,and then the underwater manipulator is simulated with a single simulated motion and a regular simulated motion.The control method shows strong robustness in the simulation experiment.Last but not the least,the experimental research of controlled grabbing under disturbance conditions in UVMS pools and real seas.The experimental results show that the UVMS control effect is good,and the grabbing success rate fully meets the actual engineering requirements.