基于CAM矩阵的水下机器人容错控制方法  

Fault-Tolerant Control Method for an Underwater Robot Based on the CAM Matrix

作　　者：邱帅 吕瑞 范辉 万亚民 黄海 杨管金子 QIU Shuai;LU Rui;FAN Hui;WAN Ya-min;HUANG Hai;YANG Guan-jin-zi(The 705 Research Institute,China State Shipbuilding Corporation Limited,Xi’an 710077,China)

机构地区：[1]中国船舶集团有限公司第705研究所,陕西西安710077

出　　处：《水下无人系统学报》2021年第1期104-110,共7页Journal of Unmanned Undersea Systems

摘　　要：针对水下机器人推进器出现故障后控制效果变差,无法完成指定任务,甚至可能造成机器人的丢失等问题,文中提出一种基于控制分配机(CAM)矩阵的水下机器人容错控制方法。利用CAM矩阵重构推力分配确保机器人航行稳定,同时使用序列二次规划方法寻找最大合力推力分配策略实现效率最大。通过仿真对所提方法进行有效性验证,结果表明,该容错控制方法能够处理推进器部分或完全失效故障并使机器人保持一定的性能稳定航行。The poor control effect of an underwater robot thruster after failure often prevents specific tasks from being completed and may even cause the loss of the robot.To address this problem,this study proposes a fault-tolerant control method for an underwater robot based on a control allocation machine(CAM)thrust distribution matrix.The CAM matrix is used to reconstruct the distribution to ensure stable navigation of the robot,and a thrust distribution strategy for achieving maximum resultant forces is identified using a sequential quadratic programming method.The effectiveness of the proposed method is verified through a simulation.Simulation results show that the proposed fault-tolerant control method can handle partial or complete failure of the thruster and can ensure that the robot achieves good performance and stable navigation.

关 键 词：水下机器人 推力分配 容错控制 重构 

分 类 号：TJ630[兵器科学与技术—武器系统与运用工程] TP302.8[自动化与计算机技术—计算机系统结构]