水中マニピュレータ用オイル充填電動関節システムの環境圧力補償とロバスト位置制御
Ambient pressure compensation and robust position control of oil-filled electric joint systems for underwater manipulators
水中マニピュレータの関節が受ける高圧環境に対応するため、圧力補償モジュールの動特性を解析し、関節構造を最適化して内部油圧を密封。不確かさを考慮した動的モデルを構築し、μ合成法に基づくロバスト位置制御器を設計・実験で検証した。
著者: Hongrui Wu, Songhui Wang, Xin Wang
分類: cs.CV
原文アブストラクト
Electric joint systems are significant elements of an underwater manipulator for its actuation, drive, and control. Working in an underwater environment, the joints suffer huge ambient pressure. To withstand it, the pressure compensation method is usually deployed, whereas the pressurized oil introduces sealing problems as well as parametric uncertainties and unknown disturbances for the dynamic model of the joint. To tackle these issues, this study proposes a design framework for the underwater oil-filled electric joint. The dynamics of the pressure compensation module is analyzed and the structure of the joint is optimized to seal the internal hydraulic oil. An uncertainty dynamic model of the oil-filled joint is established and a robust position controller is designed based on the structured singular value synthesis (mu-synthesis). Experimental results validate the feasibility of the proposed methods.