基于LMI的ROV执行器故障艏向容错控制  

Yaw fault tolerance control of remotely operated vehicle actuator failure based on LMI

作　　者：唐军[1] 谢彬 陈善颖 钱明炎 Tang Jun;Xie Bin;Chen Shanying;Qian Mingyan(College of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,赣州341000

出　　处：《国外电子测量技术》2023年第12期39-48,共10页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(51864015)项目资助。

摘　　要：针对无人潜水器(remotely operated vehicle,ROV)的执行器故障问题,提出了一种基于线性矩阵不等式(linear matrix inequality,LMI)的鲁棒控制补偿修复方法。首先,建立了ROV 4自由度动力学模型,并对艏向模型进行线性化;利用自适应故障估计器对执行器故障大小进行估计,并对控制量进行实时补偿;基于反步法和鲁棒控制技术对其进行控制策略设计;最后,采用Lyapunov相关理论验证了控制系统的稳定性。仿真结果表明,当执行器控制输入效率损失30%时,经过补偿修复后超调量下降13.98%,稳定时间减少50%;当控制输入效率损失40%时,修复后的超调量下降6.65%,稳定时间减少22.86%;实验结果表明,控制方法可在发生故障后40 s内恢复稳定状态,偏航角稳态误差约为±2°。因此,所提出的故障补偿修复策略能够降低对艏向控制的影响程度,保障ROV的稳定控制,并为水下机器人容错控制提供了一种新思路。A robust control compensation and repair method based on linear matrix inequalities(LMI)is proposed to solve the actuator fault problem of a remotely operated vehicle(ROV).Firstly,the four-degree-of-freedom ROV dynamic model is established,and the yaw model is linearized.The fault size of the actuator is estimated by the adaptive fault estimator,and the control quantity is compensated in real time.The control strategy is designed based on backstepping method and robust control technology.Finally,the Lyapunov correlation theory is used to prove the stability of the control system.The simulation results show that when the control input efficiency of the actuator is lost by 30%,the overshoot decreases by 13.98%and the stability time decreases by 50%after compensation repair.when the control input efficiency is lost by 40%,the overshoot decreases by 6.65%and the stability time decreases by 22.86%.The experimental results show that the control method in this paper can recover the steady state within about 40 s when the fault occurs,and the steady state error of the yaw angle is about±2°.Therefore,the proposed fault compensation and repair strategy can reduce the degree of influence on yaw control,ensure the stability of ROV control,and provide a new idea for the fault-tolerant control of underwater vehicles.

关 键 词：无人潜水器 故障补偿修复 线性矩阵不等式 模型线性化 自适应故障估计器 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]