全向移动式网衣清洗机器人运动控制研究OA

To meet the demand for automated net cleaning in deep-sea aquaculture cages and to address the problems of low control accuracy and weak disturbance rejection capability of underwater robots,this paper presents a systematic study on the motion control technology of an omnidirectional mobile net-cleaning robot.Based on rigid-body dynamics,the kinematic and dynamic models of the robot were established,and the thrust allocation analytical equations were derived in accordance with the thruster configuration,thereby revealing the mapping mechanism between actuator thrust and the spatial motion states.Considering the operational characteristics of gravity-type cylindrical net cages,a helical path planning and trajectory generation algorithm was designed to define the spatiotemporal reference trajectory for autonomous net-cleaning operations.To mitigate the risk of trajectory tracking instability induced by model parameter perturbations and ocean current disturbances,a fuzzy incremental PID composite control strategy was proposed,which employed fuzzy inference to achieve online self-tuning of the control parameters.Simulation experiments demonstrated that,compared with the conventional fixed-gain PID controller,the proposed strategy exhibited superior trajectory tracking accuracy and disturbance rejection robustness under typical operating conditions,including constant-depth cruising,upright station-keeping,and autonomous net-cleaning.The research results provide a theoretical foundation and technical support for the engineering application of net-cleaning robots.