基于改进二次规划算法的X舵智能水下机器人控制分配  

X-Rudder Autonomous Underwater Vehicle Control Allocation Based on Improved Quadratic Programming Algorithm

作　　者：李岳明[1] 王小平 张军军[2] 曹建[1] 张英浩 LI Yueming;WANG Xiaoping;ZHANG Junjun;CAO Jian;ZHANG Yinghao(College of Shipbuilding Engineering.Harbin Engineering University,Harbin 150001,China;China Ship Development and Design Center,Wuhan 430064,China)

机构地区：[1]哈尔滨工程大学船舶工程学院,哈尔滨150001 [2]中国舰船研究设计中心,武汉430064

出　　处：《上海交通大学学报》2020年第5期524-531,共8页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(51609047,51709061);中央高校基本科研业务费(HEUCF180102)资助项目。

摘　　要：针对具有4个独立舵叶的X舵智能水下机器人(AUV)姿态控制分配精度及其计算效率问题,提出一种改进二次规划算法,在满足分配精度的同时减少计算量.使用Lagrange乘子法替代序列二次规划法所用的光滑牛顿法进行优化求解计算,有效降低了迭代循环计算,同时保留了序列二次规划的计算精度.仿真环境下的X舵AUV运动控制结果表明:改进后的控制分配算法能够减少40%的计算时间,控制分配偏差不大于0.03 N·m,AUV姿态控制效果良好.Aiming at the problem of allocation accuracy and computational efficiency of X-rudder autonomous underwater vehicle(AUV) attitude control with four independent rudder blades, an improved quadratic programming algorithm is proposed to reduce the calculation amount while satisfying the allocation accuracy. The Lagrange multiplier method is used to replace the smooth Newton method used in the sequence quadratic programming method to optimize the solution calculation. The method effectively reduces the iterative cycle calculation while preserving the calculation accuracy of sequence quadratic programming. The results of X-rudder AUV motion control in the simulation environment show that the improved control allocation algorithm can reduce the calculation time by 40%, and the control allocation deviation is not more than 0.03 N·m. The effect of AUV attitude control is good.

关 键 词：X舵 智能水下机器人 控制分配 改进二次规划 运动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]