矢量推进水下机器人的推力分配方法  

Thrust allocation method of underwater robots with vector propulsion

作　　者：李新飞[1] 马强 袁利毫[1] 王宏伟[1] LI Xinfei;MA Qiang;YUAN Lihao;WANG Hongwei(College of Ship Engineering,Harbin Engineering University,Harbin 150001,China;Harbin Construction Group Co.,LTD,Harbin 150030,China)

机构地区：[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

出　　处：《哈尔滨工程大学学报》2018年第10期1605-1611,共7页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(51509046);国家重大科技专项(2016ZX05057020)

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。In order to study the thrust allocation method of the remotely operated vehicles(ROV)in deep sea,a mathematics model of the over-actuated vector thrust system is constructed according to the ROV characteristics,i.e.several thrusters are arranged as vectors symetrically.The direct logic thrust allocation technology is applied in the model,which first normalizes the six degrees of freedom motion control voltage,then amplifies the voltage,and then allocates the thrust by direct logic method on the horizontal plane and vertical plane respectively.The numerical simulation and analysis shows this thrust allocation method can achieve the optimized distribution and output of thrust and the six degrees of freedom motion control for the over-actuated ROV,having the simple,accurate,and real-time merits,besides,it avoids saturated output of thrust allocation,therefore,the method has certain guidance significance and engineering value on the research of underwater robot and over-actuated ship thrust allocation.

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[自动化与计算机技术—检测技术与自动化装置]