一种ROV型深海矿物采集装置的路径跟踪控制方法  

Path tracking method for ROV deep-sea mining equipment

作　　者：陈昱衡 张海成[1] 邹伟生[1] 李秋华[2] 徐道临[1] CHEN Yu-heng;ZHANG Hai-cheng;ZOU Wei-sheng;LI Qiu-hua;XU Dao-lin(College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China;College of Aerospace Science,National University of Defense Technology,Changsha 410082,China)

机构地区：[1]湖南大学机械与运载工程学院,长沙410082 [2]国防科技大学空天科学学院,长沙410082

出　　处：《船舶力学》2024年第11期1687-1699,共13页Journal of Ship Mechanics

基　　金：国家自然科学基金资助项目(52071138;12302028)。

摘　　要：本文针对一种新型遥控无人潜水器(Remote Operated Vehicle,ROV)拖曳采集装置(Mining Robot,MRT)的路径跟踪问题,提出一种路径跟踪控制方法。首先建立简化的ROV型深海采集装置的运动模型,随后提出一种基于线性模型预测控制算法(Linear Model Predictive Control,LMPC)和非线性模型预测控制器(Nonlinear Model Predictive Control,NMPC)的路径跟踪算法。与传统的模型预测控制器(Model Predictive Control,MPC)不同,本文提出的双层模型预测控制算法(Double Model Predictive Control,DMPC)由两部分组成:(1)由MRT的LMPC控制器计算得到MRT的速度控制律,用于快速收敛MRT的跟踪误差;(2)由ROV的NMPC控制器计算得到ROV的控制输入,用于响应MRT的速度控制律。在DMPC的设计中,有效考虑状态量和控制量约束,其中为了保证ROV控制输入的平顺性,引入ROV的控制量增量约束。最后,设计仿真实验用于验证MRT的路径跟踪效果,数值仿真结果证明了该算法的有效性。To solve the path tracking problem of ROV deep-sea mining equipment,where a Mining Robot(MRT)is towed by a Remote Operated Vehicle(ROV),the motion model of a simplified ROV deep-sea min⁃ing equipment was established first.Then,a path tracking algorithm based on Linear Model Predictive Con⁃trol(LMPC)and Nonlinear Model Predictive Control(NMPC)was proposed.Different from the traditional Model Predictive Control(MPC),the proposed Double Model Predictive Control(DMPC)algorithm consists of two parts:(1)the LMPC controller of MRT for calculation of the speed control law of MRT,which is used to quickly converge the tracking error of MRT;(2)the NMPC controller of the ROV for calculation of the control input of the ROV,which is used to follow the speed control law of the MRT.In the design of DMPC,con⁃straints of state quantity and control quantity were considered effectively.In order to ensure the smoothness of ROV control input,the incremental control quantity constraint of ROV was introduced.Finally,simulation experiments were designed to verify the path tracking performance of MRT.Numerical simulation results demonstrate the effectiveness of the proposed algorithm.

关 键 词：深海采矿装备 无人遥控潜水器 移动机器人 模型预测控制 

分 类 号：O232[理学—运筹学与控制论] U66[理学—数学]