[1]李新飞,马强,袁利毫,等.矢量推进水下机器人的推力分配方法[J].哈尔滨工程大学学报,2018,39(10):1605-1611.[doi:10.11990/jheu.201702042]
 LI Xinfei,MA Qiang,YUAN Lihao,et al.Thrust allocation method of underwater robots with vector propulsion[J].hebgcdxxb,2018,39(10):1605-1611.[doi:10.11990/jheu.201702042]
点击复制

矢量推进水下机器人的推力分配方法(/HTML)
分享到:

《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
39
期数:
2018年10期
页码:
1605-1611
栏目:
出版日期:
2018-10-05

文章信息/Info

Title:
Thrust allocation method of underwater robots with vector propulsion
作者:
李新飞1 马强2 袁利毫1 王宏伟1
1. 哈尔滨工程大学 船舶工程学院, 黑龙江 哈尔滨 150001;
2. 哈尔滨建成集团有限公司, 黑龙江 哈尔滨 150030
Author(s):
LI Xinfei1 MA Qiang2 YUAN Lihao1 WANG Hongwei1
1. College of Ship Engineering, Harbin Engineering University, Harbin 150001, China;
2. Harbin Construction Group Co., LTD, Harbin 150030, China
关键词:
水下机器人运动控制过驱动液压推进器矢量布置推力分配
分类号:
TP242
DOI:
10.11990/jheu.201702042
文献标志码:
A
摘要:
为了研究深海过驱动遥控水下机器人的推力分配方法,针对作业型ROV多个推进器成矢量对称布置的特点,建立了一种过驱动矢量推进系统的数学模型。提出了一种先将六自由度运动控制电压进行归一化处理,经过放大后再分别对水平面和垂直面进行直接逻辑推力分配的方法。通过数值仿真分析表明:该推力分配方法可实现过驱动作业型ROV的推力优化分配输出和六自由度运动控制,具有简单、准确、实时强和避免推力分配饱和输出等优点,对水下机器人及过驱动船舶推力分配方法的研究,具有一定的指导意义和工程价值。

参考文献/References:

[1] CHRIST R D. The ROV manual:a user guide for observation-class remotely operated vehicles[R]. Butterworth Heinemann, 2007.
[2] 李新飞, 姜述强, 崔洪斌. 考虑螺旋桨负载的液压推进器动力学响应分析[J]. 华中科技大学学报, 2017,45(2):16-21.LI Xinfei, JIANG Shuqiang, CUI Hongbin. Dynamics analysis of hydraulic thruster with propeller load[J]. J Huazhong Univ of Sci & Tec, 2017, 45(2):23-28.
[3] JOHANSEN T A, FOSSEN T I. Control allocation-a survey[J]. Automatica, 2013(49):1087-1103.
[4] JOHANSEN T A, FOSSEN T I, BERGE S P. Constrained nonlinear control allocation with singularity avoidance using sequential quadratic programming[J]. IEEE Transactions on control system technology, 2004,12(1):211-216.
[5] 俞建成, 张艾群, 王晓辉. 7000米载人潜水器推进器故障容错控制分配研究[J]. 机器人, 2006,28(5):519-524.YU Jiancheng, ZHANG Aiqun, WANG Xiaohui. Research on thruster fault tolerant control allocation of a 7 000 m manned submarine[J]. Robot, 2006, 33(1):519-524.
[6] 贾立娟, 秦玉峰, 张选明, 等. 微型缆控水下观测机器人推进动力分析[J]. 海洋技术学报, 2014,33(2):104-110. JIA Lijuan, QIN Yufeng, ZHANG Xuanming, et al. Analysis on the propulsive power of a novel micro-ROV[J]. Journal of ocean technology. 2014,33(2):104-110.
[7] 范士波. 深海作业型 ROV 水动力试验及运动控制技术研究[D]. 上海:上海交通大学, 2013:1-16.FAN Shibo. Hydrodynamics test and research on motion control for deep sea work-class remotely operated vehicle[D]. Shanghai:Shanghai Jiao Tong University, 2013:1-16.
[8] SOYLU S, BUCKHAM B J, PODHORODESKI R P. A chattering free sliding-mode controller for underwater vehicles with fault-tolerant infinity-norm thrust allocation[J]. Ocean engineering, 2008, 35(16):1647-1659.
[9] AKMAL M, YUSOFF M, ARSHAD M R. Active fault tolerant control of a remotely operated vehicle propulsion system[J]. Procedia engineering, 2012, 41:622-628.
[10] 黄海, 万磊, 庞永杰, 等. SY_遥控式水下机器人推力器容错控制的研究[J]. 应用基础与工程科学学报, 2012, 20(6):1118-1127. HUANG Hai, WAN Lei, PANG Yongjie, et al. Fault tolerance control of SY-Ⅱ remote operated vehicle[J]. Journal of basic seience and engineering, 2012, 20(6):1118-1127.
[11] 魏延辉, 陈巍, 杜振振, 等. 深海ROV伺服控制方法研究及仿真[J]. 控制与决策, 2015,33(10):1785-1790.WEI Yanhui, CHEN Wei, DU Zhenzhen, et al. Servo control method of ROV and Simulation[J]. Control and decision, 2015,33(10):1785-1790.
[12] YANG Shizhi, WANG Lei, SUN Pan. Optimal thrust allocation logic design of dynamic positioning with pseudo-inverse method[J]. Journal of Shanghai Jiao Tong University, 2011, 16(1):118-123.
[13] KIRKEBY M. Comparison of controllers for dynamic positioning and tracking of ROV minerva[D].[s.l.]:NTNU, 2010.
[14] CANDELORO M. Design of observers for DP and tracking of ROV minerva with experimental results[D].[s.l.], NTNU, 2011.
[15] FOSSEN T I. Handbook of marine craft hydrodynamics and motion control[M]. New York:John Wiley & Sons Ltd, 2011:1-10.

相似文献/References:

[1]郭冰洁,徐玉如,李岳明.水下机器人S面控制器的改进粒子群优化[J].哈尔滨工程大学学报,2008,(12):1277.
 GUO Bing-jie,Xu Yu-ru,LI Yue-ming.S surface controller for underwater vehicles using particle swarm optimization[J].hebgcdxxb,2008,(10):1277.
[2]毛宇峰,庞永杰,李 晔,等.速度矢量坐标系下水下机器人动态避障方法[J].哈尔滨工程大学学报,2010,(02):159.
 MAO Yu feng,PANG Yong jie,LI Ye,et al.Using a velocity vector coordinate method for dynamic obstacle avoidance of autonomous underwater vehicles[J].hebgcdxxb,2010,(10):159.
[3]张铭钧,宋炜胥,褚振忠.自主式水下机器人模糊定性建模方法研究[J].哈尔滨工程大学学报,2013,(01):116.[doi:10.3969/j.issn.1006-7043. 201205069]
 ZHANG Mingjun,SONG Weixu,CHU Zhenzhong.Research on the method of fuzzy qualitative modeling for AUV[J].hebgcdxxb,2013,(10):116.[doi:10.3969/j.issn.1006-7043. 201205069]
[4]魏延辉,田海宝,杜振振,等.微小型自主式水下机器人系统设计及试验[J].哈尔滨工程大学学报,2014,(05):566.[doi:10.3969/j.issn.10067043.201303010]
 WEI Yanhui,TAN Haibao,DU Zhenzhen,et al.Design and experiment of the mini autonomous underwater vehicle system[J].hebgcdxxb,2014,(10):566.[doi:10.3969/j.issn.10067043.201303010]
[5]黄海,张强,张树迪,等.欠驱动AUV自适应编队控制策略[J].哈尔滨工程大学学报,2015,(05):633.[doi:10.3969/j.issn.1006-7043.201402003]
 HUANG Hai,ZHANG Qiang,ZHANG Shudi,et al.Adaptive formation control strategy for under-actuated AUVs[J].hebgcdxxb,2015,(10):633.[doi:10.3969/j.issn.1006-7043.201402003]
[6]赵宝强,王晓浩,姚宝恒,等.水下滑翔机李雅普诺夫稳定性分析[J].哈尔滨工程大学学报,2015,(01):83.[doi:10.3969/j.issn.1006-7043.201309066]
 ZHAO Baoqiang,WANG Xiaohao,YAO Baoheng,et al.Lyapunov stability analysis of the underwater glider[J].hebgcdxxb,2015,(10):83.[doi:10.3969/j.issn.1006-7043.201309066]
[7]廖煜雷,刘鹏,王建,等.基于改进人工鱼群算法的无人艇控制参数优化[J].哈尔滨工程大学学报,2014,(07):800.[doi:10.3969/j.issn.1006-7043.201306066]
 LIAO Yulei,LIU Peng,WANG Jian,et al.Control parameter optimization for the unmanned surface vehicle with the improved artificial fish swarm algorithm[J].hebgcdxxb,2014,(10):800.[doi:10.3969/j.issn.1006-7043.201306066]
[8]赵文德,张杰,赵勇,等.大深度海水浮力调节系统研制[J].哈尔滨工程大学学报,2015,(09):1269.[doi:10.11990/jheu.201407040]
 ZHAO Wende,ZHANG Jie,ZHAO Yong,et al.Development of a deep-sea buoyancy regulating system[J].hebgcdxxb,2015,(10):1269.[doi:10.11990/jheu.201407040]
[9]廖煜雷,李晔,刘涛,等.波浪滑翔器技术的回顾与展望[J].哈尔滨工程大学学报,2016,37(09):1227.[doi:10.11990/jheu.201603099]
 LIAO Yulei,LI Ye,LIU Tao,et al.Unmanned wave glider technology: state of the art and perspective[J].hebgcdxxb,2016,37(10):1227.[doi:10.11990/jheu.201603099]
[10]张荣敏,陈原,高军.无鳍舵矢量推进水下机器人纵向稳定性研究[J].哈尔滨工程大学学报,2017,38(01):133.[doi:10.11990/jheu.201509089]
 ZHANG Rongmin,CHEN Yuan,GAO Jun.Longitudinal handling stability of vectored thrust underwater vehicle without fin and rudder[J].hebgcdxxb,2017,38(10):133.[doi:10.11990/jheu.201509089]

备注/Memo

备注/Memo:
收稿日期:2017-02-24。
基金项目:国家自然科学基金项目(51509046);国家重大科技专项(2016ZX05057020).
作者简介:李新飞(1980-),男,讲师,博士后;袁利毫(1982-),男,副教授.
通讯作者:袁利毫,E-mail:yuanlihao82@163.com.
更新日期/Last Update: 2018-10-10