| 应用零航速减摇鳍的海洋机器人近水面时的横摇减摇控制(英文) |
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| 引用本文： | 高妍南,金鸿章,周生彬.应用零航速减摇鳍的海洋机器人近水面时的横摇减摇控制(英文)[J].船舶与海洋工程学报,2012,11(2):228-235. |
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| 作者姓名： | 高妍南 金鸿章 周生彬 |
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| 作者单位： | College of Automation,Harbin Engineering University;College of Electrical and Technology,Heilongjiang Institute of Science and Technology;College of Mathematics,Harbin Normal University |
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| 基金项目： | Supported by the National Natural Science Foundation under Grant No50879012 |
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| 摘 要： | A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed.
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| 关 键 词： | zero-speed fin stabilizer roll reduction input-output linearization master-slave structure marine robot |
Application of a zero-speed fin stabilizer for roll reduction of a marine robot near the surface |
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| Yannan Gao,Hongzhang Jin,Shengbin Zhou.Application of a zero-speed fin stabilizer for roll reduction of a marine robot near the surface[J].Journal of Marine Science and Application,2012,11(2):228-235. |
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| Authors: | Yannan Gao Hongzhang Jin Shengbin Zhou |
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| Institution: | 1.College of Automation,Harbin Engineering University,Harbin 150001,China 2.College of Electrical and Technology,Heilongjiang Institute of Science and Technology,Harbin 150001,China 3.College of Mathematics,Harbin Normal University,Harbin 150001,China |
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| Abstract: | A zero-speed fin stabilizer system was developed for rolling control of a marine robot.As a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from waves.Based on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave structure.It was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin stabilizer.The methods of input-output linearization and model reference were used to realize the tracking control.Simulations were presented to demonstrate the validity of the control law proposed. |
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| Keywords: | zero-speed fin stabilizer roll reduction input-output linearization master-slave structure marine robot |
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