解决水下油压关节的密封与控制难题，提升稳定性。
Ambient pressure compensation and robust position control of oil-filled electric joint systems for underwater manipulators
- 设计油压补偿结构并优化密封，抗高压环境
- 建立含不确定性的动态模型，实现精准定位
- 适合水下机器人关节设计，工程实用性强
电驱动关节是水下机械臂执行、驱动与控制的关键部件。在水下环境中，关节需承受巨大环境压力。为应对这一挑战，通常采用压力补偿方法，但加压油液带来了密封难题，并引入参数不确定性与未知扰动，影响关节动力学模型精度。本文提出一种水下油压式电驱动关节的设计框架，分析了压力补偿模块的动力学特性，优化了关节结构以实现内部液压油密封。建立了油压关节的不确定性动态模型，并基于结构奇异值综合（mu-synthesis）设计了鲁棒位置控制器。实验结果验证了所提方法的可行性。
原文摘要 · Abstract (English)
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.
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