作业型ROV矢量推进建模及推力分配方法  

Vector propelling system model and thrust allocation for work-class ROV

作　　者：李新飞[1] 马强 袁利毫[1] 王宏伟[1] LI Xin-fei;MA Qiang;YUAN Li-hao;WANG Hong-wei(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,哈尔滨150001 [2]哈尔滨建成集团有限公司,哈尔滨150030

出　　处：《船舶力学》2020年第3期332-341,共10页Journal of Ship Mechanics

基　　金：国家自然科学基金资助项目(51509046);国家重大科技专项(2016ZX05057020);水下工程安全作业仿真测试装备研制及关键技术研究(Z16SJENI0071);面向国家重大需求培育计划(HEUCFP201603)。

摘　　要：为了研究矢量推进遥控水下机器人(Remotely Operated Vehicle, ROV)的推力分配方法,根据总体结构中推进器的空间分布关系,推导出推进器推力和作用于ROV本体上合推力之间的关系,进而建立了一种过驱动ROV矢量推进系统的数学模型。在Matlab中构建了ROV运动控制的仿真模型,通过直接推力分配法验证了目标ROV矢量推进系统数学模型的准确性。提出了一种将六自由度控制量归一化和伪逆法结合使用的综合推力分配方法,通过仿真验证了该方法可有效解决直接伪逆法出现的推进器饱和问题,可直接应用于解决矢量推进水下机器人运动控制的工程问题。In order to study thrust allocation method of Remotely Operated Vehicles(ROV), the relation between each propeller thrust and the sum thrust acting on ROV body is derived from spatial arrangement of vector thrusters. The mathematics model of the over-actuated ROV system and the simulation model of ROV motion control are constructed. The vector propelling system model of the target ROV is properly checked by way of direct thrust allocation. A pseudo-inverse thrust allocation method combined with the normalization way for six DOF control voltages is proposed. The thrust over-actuated problem of pseudo-inverse thrust allocation is resolved, which can be applied to overcome motion control engineering problem of underwater robot with vector propellers.

关 键 词：水下机器人 过驱动 矢量推进 推力分配 伪逆法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]