Abstract

Kinematic and dynamic modeling and controlling method of a new underwater 3-DOF platform have been researched. Firstly, on the basis of Quasi-Lagrange equation, the dynamic model of the platform and hydraulic system is analyzed; secondly, aim to solve the problem of the large parameter perturbation and load changes, a sliding mode controller based on joint space nonlinear model is proposed, which turns control of the underwater platform into the separate control of each branch; finally, leveling control of the platform is achieved to verify the dynamic model and controller performance, using semi-physical simulation technology.

Keywords:
control strategy, semi-physical simulation platform, simulation result, tension winch, mathematical model, velocity vector, modeling, underwater platform, hydraulic motor, mode controller
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2014. International Society of Offshore and Polar Engineers
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