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[CN 202210457008.5] A Sliding Mode Control Method for Underwater Multi-DOF Hydraulic Manipulator
[CN 202210457008.5] A Sliding Mode Control Method for Underwater Multi-DOF Hydraulic Manipulator Title: A Sliding Mode Control Method for Underwater Multi-DOF Hydraulic Manipulator Application Number: CN 202210457008.5 Applicant: Zhejiang University Application Date: 2022-4-27 Patent Type: Invention Application The present invention discloses a sliding mode control method for underwater multi-DOF hydraulic Manipulator. The method includes: establishing a dynamic state space model considering nonlinearity and external interference; The dynamic state space model outputs the rotation angle value of each degree of freedom joint of the multi-degree-of-freedom mechanical arm linkage mechanism; According to the dynamic state space model, the sliding mode controller is designed by using backstepping control method, and the constraint conditions are established. The rotation angle value of each degree of freedom joint output by the dynamic state space model is input into the sliding mode controller, the sliding mode controller outputs the input voltage of the hydraulic system, which is converted into the displacement of the valve core of the hydraulic valve of the hydraulic system, so as to realize the precise control of the underwater multi-degree-of-freedom hydraulic manipulator. The sliding mode control method of the invention can optimize the motion control performance of the robot arm, improve the control accuracy of the robot arm joint, and reduce the control error of the hydraulic system at the end of the robot arm while ensuring the stability of the underwater multi-degree-of-freedom hydraulic robot arm system.
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