【作者】 王丽慧；

【导师】 孟庆鑫；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2002， 博士

【摘要】 壁面移动机器人属特种作业机器人，在核工业、石化企业、建筑行业、消防部门、造船等领域均有广泛的应用，自二十世纪六十年代出现以来，一直受到世界各国的关注。本文研制的水下船体表面清刷机器人是壁面移动机器人的一种类型，是结合黑龙江省归国人员基金项目开展的，具有广阔的应用前景。 论文系统综述了水下清刷技术和壁面移动机器人技术的发展，成功研制了水下船体表面清刷机器人原理样机。针对水下作业环境的特点，对机器人的本体结构、磁路结构、控制系统和清刷作业装置等关键技术进行了系统的研究。 论文首先介绍了壁面移动机器人的分类和特点，总结了水下清刷作业和壁面移动机器人的国内外发展现状和应用情况，提出了采用双履带、永磁吸附式的水下船体表面清刷机器人本体结构方案。 研究设计了机器人的吸附机构、驱动机构、传动机构和抗倾机构。针对机器人在水下作业的特点，分析了有波浪作用时机器人在船体表面的运动，建立了机器人在船体表面静止和运动两种状态下的力学模型。通过模型仿真，确定了单个磁块所需的最小吸附力和交流伺服马达的驱动力矩等参数。 磁路结构的设计是保证机器人在船体表面可靠吸附的关键技术。论文根据力学分析确定的磁吸附力的大小，选取了具有高矫顽力的钕铁硼稀土永磁材料，确定了磁路类型，分析了动态磁路的间隙变化与磁吸附力大小之间的关系。采用氯丁胶硫化工艺，对磁路系统进行了全封闭的封装，克服了永磁材料性脆的缺点，增强了磁路的耐海水腐蚀性，保证了机器人安全、平稳地运行。 通过分析机器人在船体表面清刷作业的运动轨迹，建立了机器人的运动学模型。选用高精度的电子倾角传感器，实现了机器人姿态的闭环控制。针对清刷机器人水下作业的非线性特点，采用参数自调整模糊控制策略设计了位置模糊控制器，保证了机器人具有良好的姿态调节能力。仿真和试验结果表明，设计的控制器可以满足机器人的控制要求。 研究设计了机器人携带的作业工具即水下清刷作业装置。该装置由电容 哈尔滨工程大学博士学位论文起动异步电动机驱动，通过带传动，带动钢丝刷旋转来完成对船体表面的清刷作业。分析了刷盘尺寸和刷具转速分别与海水粘滞阻力矩、摩擦阻力矩。惯性阻力矩的关系，建立了基于水下旋转运动的清洗刷具的力学模型。 论文最后介绍了清刷机器人的性能试验情况。试验结果表明，研制的船体表面清刷机器人具有负重能力强、移动平稳、速度可调、以及抗倾覆和纠偏能力强等特点，各项性能指标达到了设计要求。 水下船体表面清刷机器人的研制为壁面移动机器人开辟了一个新的应用领域。更多还原

【Abstract】 As a special type of working robot, wall-climbing robot has been used in many areas, such as nuclear industry, petrifaction enterprise, building industry, fire fighting and ship building etc. It has been provoking high attention world widely ever since it was born in 1960’s. The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot, and is supported by The Heilongjiang Homecoming Scholar Fund. It has wide application value.The author systematically overviews the developing situation of underwater cleaning technology and the wall-climbing robot, and successfully develops the principle prototype of underwater robot for cleaning ship hull. According to the particular condition of underwater robot work, the paper studies the related key technology, including body structure, magnetic structure, control system, cleaning work set etc.At first, the dissertation describes the classification and characteristic of the wall-climbing robot, and summarizes the state-of-the-art of underwater cleaning work and wall-climbing robot, and puts forward the structure scheme which adopts double crawler movement and permanent magnetic adsorption for the robot.The paper studies and designs adsorption mechanism, driving mechanism, transmission mechanism and anti-topple mechanism which the body of robot is made up of. Considering the underwater work environment, the author analyses the robot movement on the ship hull with wave action, and establishes mechanics model of the robot in stationary and moving state. By using model simulation, some parameters are chosen, for instance irummum magnetic adsorption force for a piece of magnet and the driving torque of motor.The design of magnetic structure is the key technology of ensuring reliable adsorption of the robot on the ship hull. On the basis of the magnetic adsorptive force, it chooses Nd-Fe-B permanent magnet material with high coercive force and magnetic circuit type. It analyses the relationship between the clearance ofthe dynamic magnetic circuit and the magnetic adsorptive force. The magnetic circuit, which has been packaged with vulcanization rubber, overcomes the crispness disadvantage of permanent magnet material, and strengthens the resistance to sea water corrosion, and ensures the safe and reliable work for the robot.The paper analyses the motion path of the robot on the ship hull and develops kinematics model of the robot. By choosing the high accuracy electric inclinometer, it realizes high precision pose control of the robot. Due to the nonlinearity of the robot system, position controller uses the parameter self-adjusting fuzzy control strategy, which assures good pose regulating power. The simulation and test results show that designed controller meets the demand of the robot control precision.It devises underwater cleaning set for the robot, which is made up of capacitor start asynchronous motor, belt transmission and steel wire brush. By rotating brush, it can clean the ship hull. It has made an analysis of relationships between radius of brush, rotating speed of brush and sea viscous resisting moment, friction resisting moment, inertia moment, then establishes mechanics model of brush basing on underwater rotating.At last, performance experiments for the robot are made. Test results indicate that the developed ship hull cleaning robot has the characteristic of strong holding load, smooth and steady movement, adjustable speed, strong anti-topple capability and good deviation-rectifying. Performance index of robot is in accordance with the design specifications.In conclusions, the successful development of the underwater ship hull cleaning robot opens up a new domain for the application of the wall-climbing robot.更多还原