基于推力分配的自主水下机器人推进器容错控制研究  

Research on Thruster Fault Tolerant Control of Autonomous Underwater Vehicle Based on Thrust Distribution

作　　者：孙啸天 曾庆军[1] 尚乐 刘子豪[1] 戴晓强[1] SUN Xiaotian;ZENG Qingjun;SHANG Le;LIU Zihao;DAI Xiaoqiang(College of Automation,Jiangsu University of Science and Technology,Zhenjiang 212000,China)

机构地区：[1]江苏科技大学自动化学院,江苏镇江212000

出　　处：《软件导刊》2023年第11期118-122,共5页Software Guide

基　　金：国家自然科学基金项目(11574120);江苏省产业前瞻与共性关键技术项目(BE2018103)。

摘　　要：针对研发的“探海I型”自主水下机器人在复杂环境下推进器易出现故障的问题,提出一种基于推力分配的自主水下机器人推进器容错控制方法。首先,建立大地坐标系与运动坐标系描述空间六自由度自主水下机器人的动力学模型,并在此基础上设计反步滑模运动跟踪控制器,结合Lyapunov稳定性判据证明该系统的渐近稳定性;然后,根据不同故障类型和故障程度重构推力分配模型,对故障推进器损失的效率进行补偿。仿真结果表明,该方法能使AUV的实际运动轨迹趋于期望轨迹运行,高效地实现了AUV的精准运动跟踪,当推进器出现故障时可在短时间内补偿AUV故障造成的推力损失,使AUV回到期望路径上继续进行水下作业任务。A thrust allocation based fault-tolerant control method for the thruster of the developed"Sea Exploration Type I"autonomous underwater robot is proposed to address the issue of thruster failures in complex environments.Firstly,establish a geodetic coordinate system and a motion coordinate system to describe the dynamic model of a six degree of freedom autonomous underwater robot in space,and based on this,design a backstepping sliding mode motion tracking controller.Combined with the Lyapunov stability criterion,prove the asymptotic stability of the system;Then,the thrust allocation model is reconstructed based on different types and degrees of faults to compensate for the efficiency of the faulty thruster losses.The simulation results show that this method can make the actual motion trajectory of the AUV tend to the expected trajectory,efficiently achieving accurate motion tracking of the AUV.When the thruster fails,it can compensate for the thrust loss caused by the AUV failure in a short period of time,allowing the AUV to return to the expected path and continue underwater operations.

关 键 词：自主水下机器人 推力分配 反步滑模 容错控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]