基于推力矢量分配的ROV姿态控制技术研究
Research on ROV Attitude Control Technology Based on Thrust Vector Allocation
刘均 1闫佳丽 1刘强 2叶海春 2王中杨 3胡庆3
作者信息
- 1. 东北石油大学 电气信息工程学院,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
- 3. 东北石油大学 机械工程学院,黑龙江大庆 163318
- 折叠
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.
Abstract
Traditional ROV(Remote Operated Vehicle)attitude control methods,operated underwater by RO Vs,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.
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Key words
underwater vehicle/thrust vector distribution/new cooperative control/Matlab/Simulink/attitude control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据