深水作业机器人推进器布局建模及推力分配  

Thruster Layout Modeling and Thrust Distribution for Deep Water Working ROV

作　　者：陈晓虎 尚伟燕[2] 杨先海[1] 易新华[2] 代瑞恒 孙阳 CHEN Xiaohu;SHANG Weiyan;YANG Xianhai;YI Xinhua;DAI Ruiheng;SUN Yang(School of Mechanical Engineering,Shandong University of Technology,Zibo Shandong 255000,China;School of Mechanical Engineering,Ningbo University of Technology,Ningbo Zhejiang 315000,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255000 [2]宁波工程学院机械工程学院,浙江宁波315000

出　　处：《机床与液压》2022年第3期157-161,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金项目(51605232);宁波市科技创新2025重大专项(2019B10076);宁波市科技计划项目(2018A610187)。

摘　　要：为了研究遥控无人潜水器(ROV)水平推进器的安装位置与安装角度对ROV纵荡、横荡及艏摇三个运动的影响,建立了推进器空间布局与最终推力的数学模型。根据小型ROV的具体作业环境确定了推进器的安装角度,并在此基础上提出了功率归一与序列二次规划相结合的水平推进器推力分配方法,通过仿真验证了该方法进行推力分配的合理性和有效性。According to the structure of remotely operated vehicle(ROV),the mathematical model of propeller space layout and final thrust was established.The above model was used to study the influence of the installation position and installation angle of horizontal thruster on the three motions of surge,sway and yaw.The installation angle of the horizontal thruster on the small ROV was determined according to the specific working environment.Under the condition that the thruster installation angle was determined,a method of horizontal thruster thrust distribution combining power normalization and sequence quadratic program(SQP)algorithm was proposed.This method has been proved by the simulation to the rationality and validity of the thrust allocation.

关 键 词：推进器 空间布局 功率分配 序列二次规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]