摘要随着全球陆地资源的锐减，以及人类的发展和社会的进步，人们已经慢慢的把对自然资源的需求从资源匮乏的陆地转移到物产丰富的海洋了。在整个系统潜入海底进行作业的过程中，水下遥作业系统得到了广泛的应用。水下遥作业系统是一个动力学耦合和运动学冗余的非线性时变的多体系统，系统的组成部分，水下机器人及载体和机械手间的协调控制的研究也就成了各国科学家们研发的一个非常重要的方向，这些在水下机器人的研究领域都有着十分重要的作用。86059

本文主要做以下几个工作：

对机械手和水下机器人分别进行水下运动和受力情况的分析，接着对两者建立对应的动力学和运动学方程。为整个水下遥作业系统的整体建模做一个铺垫。因为平常使用的拉格朗日方程是专门对静坐标系（大地坐标系）下的运动而言的，然而，水下遥作业系统的运动一般情况下是基于运动坐标系建立的，因此，根据两个坐标系之间的相互转换，选择准拉格朗日方程来建立整个系统的动力学模型。因为整个系统是一个多个自由度的冗余系统，所以，选择运动分配和关节限位的知识来对系统做一个相对合理的运动规划，这与常规的最小范数解的算法相比较的话具有比较明显的优越性。

然后，对整个作业系统的模型做出运动轨迹和运动姿态的控制器设计，并且对滑模控制算法也进行研究，设计一个拥有良好鲁棒性的滑模控制器，对系统的每一个自由度进行单独控制，观察每个自由度对系统作业的影响，同时，对整个水下遥作业系统进行一个基于指数趋近律和准滑动模态的改进。

最后，对基于指数趋近律的滑模控制算法以及改进算法、基于变速趋近律的滑模控制算法、两者结合的控制算法、对位置和速度进行跟踪的仿真结果与分析。

毕业论文关键词：水下遥作业系统、运动规划、滑模控制

Abstract With the collapse in global land resources, and the development of human and social progress, people have slowly put the demand for natural resources from land transfer to abundant Marine resources is scarce。In the whole system to operate into the bottom of the sea, in the process of underwater remote operation system has been widely used。Remote underwater operation system is a dynamic coupling and nonlinear time-varying multi-body kinematics redundancy system, part of the underwater robot, and the coordination between the carrier and the manipulator control research also has been developed by scientists from all over the world is a very important direction, all of these in the research field of underwater robot has a very important role。

This paper mainly do the following work:

To underwater manipulator and underwater robot motion and force analysis, and then establish the corresponding with both the dynamics and kinematics equations。For the entire remote underwater operation system of the overall modeling do a foreshadowing。Because the common use of Lagrange equation is devoted to the static coordinate system (geodetic coordinate system) of the movement, however, remote underwater operation system of the movement in general is based on the coordinate system, therefore, according to the interaction between the two coordinate system conversion, select quasi Lagrange equation to establish the dynamics model of the whole system。Because the system is a multiple degree of freedom of the redundant system, so the choice movement distribution and joint limit knowledge to system planning, a relatively reasonable exercise it with conventional in comparison with the algorithm of the minimum norm solution has the obvious superiority。

Then, on the operation of the whole system model of trajectory and motion controller is designed, and the sliding mode control algorithm is also studied, the design has a good robustness of sliding mode controller, to control the separate system of every degree of freedom, to observe the effects of every degree of freedom for system operation, at the same time, to the remote underwater operation system based on index reaching law and the improvement of quasi sliding mode。