Submersible vehicles will be affected by different kinds of disturbances in the underwater environments.Meanwhile,in order to improve the working performance and fault tolerance capability,a part of submersible vehicles are designed as over-actuated systems.A double-layer control structure which includes a disturbance observer based controller and a dynamic control allocation algorithm is proposed for the manned submersible vehicle in this paper.The dynamic control allocation distributes the forces and moments among the redundant actuators to fulfill the control objectives under a set of constraints for the submersible vehicle system affected by disturbances.Different from the static control allocation algorithm,the proposed algorithm is able to take the actuator dynamics into account.First of all,both the dynamic models of the manned submersible vehicle and the actuators are established.Secondly,based on the estimated disturbances by the disturbance observer,a motion controller is designed with the back-stepping algorithm for the manned submersible vehicle.Then,a dynamic control allocation method based on the model predictive control(MPC)is proposed to address the over-actuated problem.Finally,some numerical simulation results are given to demonstrate the effectiveness and the superiority of the proposed two-layer control scheme in this paper.
关键词
模型预测控制/动态控制分配/过驱动/抗干扰控制/载人潜水器
Key words
model predictive control/dynamic control allocation/over-actuated/disturbance rejection/manned sub-mersible vehicle
维普
万方数据