基于协同控制的自重构平台算法及试验验证  

Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control

作　　者：于特 王磊[1,2] YU Te;WANG Lei(State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240 [2]上海交通大学高新船舶与深海开发装备协同创新中心,上海200240

出　　处：《上海交通大学学报》2021年第11期1493-1498,共6页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(51179103)资助项目。

摘　　要：提出一种用于构建新型海上平台的方法.基于多无人船的协同控制实现自重构海上平台,该平台可以根据需求对接成不同形状,并设计旁靠控制器使得无人船进行旁靠对接;采用电磁和连接杆实现对接,同时降低对接难度.利用水池条件构建试验场地,并进行模型试验验证该自重构平台的功能.结果表明:同构的无人船设计使得任意无人船均可以实现对接.与单一海上平台相比,该自重构平台可以完成更复杂的任务,分散的去中心化设计使其更具灵活性和可靠性.A method for constructing a novel offshore platform was proposed.Based on the cooperative control of multiple unmanned vessels,a self-assembling platform was realized,which could be reconfigured into different shapes according to requirements.A docking controller was designed to realize the docking of two modules.A connecting rod and electromagnetic forces were adopted to complete the docking and reduce the difficulty.Besides,a test site was constructed using the conditions of pool,and a model test was performed to verify the functions of the proposed self-assembling platform.The results show that the design can realize the docking of any unmanned vessel.Compared with the single platform,this self-assembling platform can perform more complex tasks,whose decentralized design makes it more flexible and reliable.

关 键 词：自重构 无人船 海上平台 协同控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]