基于推力矢量分配的 ROV 姿态控制技术研究

吉林大学学报(信息科学版) ›› 2024, Vol. 42 ›› Issue (2): 249-259.

基于推力矢量分配的 ROV 姿态控制技术研究

刘均^1a , 闫佳丽^1a, 刘强² , 叶海春² , 王中杨^1b , 胡庆¹

1. 东北石油大学 a. 电气信息工程学院; b. 机械工程学院, 黑龙江大庆 163318; 2. 中海油安全技术服务有限公司咨询事业部, 天津 300457

收稿日期:2023-03-02 出版日期:2024-04-10 发布日期:2024-04-12
作者简介:刘均(1976— ), 男, 云南永善人, 东北石油大学副教授, 硕士生导师, 主要从事智能仪器、嵌入式系统研究, (Tel)86- 13936894822(E-mail)534143997@ qq. com
基金资助:
国家自然科学基金资助项目(11902072)

Research on ROV Attitude Control Technology Based on Thrust Vector Allocation

LIU Jun ^1a , YAN Jiali ^1a , LIU Qiang ² , YE Haichun ² , WANG Zhongyang ^1b , HU Qing ^1b

1a. School of Electrical and Information Engineering; 1b. School of Mechanical Engineering, Northeast Petroleum University, Daqing 163318, China; 2. Consulting Business Division, China National Offshore Oil Corporation Security Technology Service Company Limited, Tianjin 300457, China

Received:2023-03-02 Online:2024-04-10 Published:2024-04-12

摘要/Abstract

摘要： 针对遥控水下机器人(ROV: Remote Operated Vehicle)在水下作业时, 传统滑膜控制( SMC: Sliding Mode Control)方法存在抖振、稳定性差等问题, 提出一种新型协同控制律, 并设计出一种基于推力矢量分配的 ROV 姿态控制器。首先, 建立 ROV 运动学和动力学模型, 并解耦动力学模型; 然后, 提出了一种新型协同控制律, 通过构造适当的宏变量使其呈指数收敛, 从而为 ROV 姿态控制系统提供连续的控制律, 达到消除 ROV 姿态控制系统抖振的目的; 最后, 采用新型协同控制律设计出基于推力矢量分配的 ROV 姿态控制器。通过Matlab / Simulink 进行仿真, 结果表明, 所提出的新型协同控制律可提高 ROV 姿态控制系统的控制精度与稳定性。该控制策略为 ROV 姿态控制提供了一种新的可行方案。

关键词: 水下机器人, 推力矢量分配, 新型协同控制, Matlab / Simulink 仿真, 姿态控制

Abstract: Traditional ROV(Remote Operated Vehicle) attitude control methods, operated underwater by ROVs, have suffered from chattering and poor stability. A new cooperative control law is proposed and ROV attitude controlleris designed based on thrust vector distribution. Firstly, the ROV kinematics model and dynamics model are established, and the thrust vector distribution model and decoupling dynamics model are carried out. Then, a new cooperative control law is proposed. By constructing appropriate macro variables, the macro variables converge exponentially to provide continuous control rate for the ROV attitude control system and eliminate chattering. Finally, a new cooperative control law is used to design the ROV attitude controller based on thrust vector allocation. The results of Matlab / Simulink simulation show that the proposed new cooperative control law can improve the control accuracy and stability of the ROV attitude control system. The control strategy provides a new feasible scheme for ROV attitude control.

Key words: underwater vehicle, thrust vector distribution, new cooperative control, Matlab / Simulink; attitude control

中图分类号:

TP13

刘均, 闫佳丽, 刘强, 叶海春, 王中杨, 胡庆. 基于推力矢量分配的 ROV 姿态控制技术研究[J]. 吉林大学学报(信息科学版), 2024, 42(2): 249-259.

LIU Jun , YAN Jiali , LIU Qiang , YE Haichun , WANG Zhongyang , HU Qing . Research on ROV Attitude Control Technology Based on Thrust Vector Allocation[J]. Journal of Jilin University (Information Science Edition), 2024, 42(2): 249-259.

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