深海机器人推进电机系统的混沌控制

深海机器人推进电机系统中出现的混沌现象,直接影响深海机器人稳定性、可靠性和安全性.采用自适应控制技术对其混沌行为加以控制,对该方法的可行性和有效性进行了证明.设计和构造了易于工程实施的混沌控制器,用于深海机器人推进电机系统混沌控制.仿真实验表明,推进电机系统在自适应控制器的作用下可迅速脱离混沌状态,并进入持续稳定状态,控制效果明显.可以为深海机器人推进电机系统中可能出现的混沌运行行为提供控制策略和抑制预案,有利于混沌控制嵌入软件的开发,确保深海机器人稳定、可靠和安全地运行,具有一定的实用价值.

The adaptive control scheme is employed to control the chaotic behavior,which appears in thruster motor system and affects the stability,reliability and security of deepwater robots.The(controller) is (designed) and constructed to control the chaos.The simulation results demonstrate that the thruster motor system can be out of chaotic state by use of the adaptive controller,and go into steadv state again.The(control) effect is obvious.It is proved that the presented technology can be used as control strategy and(restraint) scheme for chaotic operation behavior possibly occurring in the thruster motor system(Furthermore),it is helpful for the embedded software development of chaotic control,which assures the(ocean) robot works more properly.

辽宁省科学技术基金资助项目(20031023);;辽宁省教育厅高校科研基金资助项目(05L299)