发表机构
J.K. Institute of Science; World Scientific University; University of Intelligent Studies; School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen（J.K.科学学院; 世界科学大学; 智能研究大学; 哈尔滨工业大学（深圳）机械工程与自动化学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究水下机械手充油电动关节系统，针对其环境压力及相关问题，提出设计框架，分析压力补偿模块动力学、优化关节结构，建立不确定动态模型并基于μ-综合设计鲁棒位置控制器，实验验证方法可行性。
AI 中文摘要
电动关节系统是水下机械手驱动、传动和控制的重要部件。在水下环境中工作时，关节承受巨大的环境压力，通常采用压力补偿方法，但加压油会带来密封问题以及关节动态模型的参数不确定性和未知干扰。为解决这些问题，本研究提出了水下充油电动关节的设计框架。分析了压力补偿模块的动力学，优化了关节结构以密封内部液压油。建立了充油关节的不确定性动态模型，并基于结构奇异值综合（μ-综合）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。
英文摘要
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.
