摘要
介绍了7000米载人潜水器推进系统的组成和推进器布置,描述了潜水器控制分配问题,对推进器推力和期望控制量进行了归一化处理.根据载人潜水器的推进器布置,建立了系统的控制分配模型,设计了推进器故障容错处理策略,研究了基于推力最小二范数的载人潜水器控制分配求解方法.采用基于伪逆矩阵与定点分配的混合控制分配求解算法,在半物理仿真平台上实验验证了控制分配求解算法的正确性和有效性.
This paper introduces the propulsion system components and the thruster configuration of a manned submarine with 7000m operation depth at first. Then control allocation problem of underwater vehicle is described, and thruster forces and desired control vectors are normalized in the control allocation process. Control allocation model of the manned submarine is presented considering its thruster configuration, and a thruster fault tolerant strategy is designed. Thirdly, this paper studies the solution method for manned submarine control allocation based on minimal thrust 2-norm. Finally, using a hybrid control allocation solution algorithm based on pseudo-inverse matrixes and fixed-point allocation, the validity and effectiveness of the control allocation algorithm are validated by experiments on semi-physical simulation platform.
出处
《机器人》
EI
CSCD
北大核心
2006年第5期519-524,共6页
Robot
基金
国家863计划资助项目(2002AA401003).
关键词
载人潜水器
水下机器人
控制分配
故障容错
manned submarine
underwater vehicle
control allocation
fault tolerance
