Abstract

Reconfiguration of a motion control system (MCS) for an autonomous underwater vehicle (AUV) in case of failure of some of the controls or actuators that provide the vehicle propulsion and maneuvering is discussed. The features of actuators operating on different physical principles are analyzed. A nonlinear mathematical model of the vehicle motion is formed taking into account the features of the seawater medium due to higher viscosity. Nonlinearity does not allow traditional approaches to reconfiguration of aircraft motion control system to be used for the purposes described in this paper. The approach proposed for reconfiguration of the AUV MCS consists in the preliminary analysis of the conditions for using different kinds of actuators depending on the vehicle speed and maneuver. The choice of alternative efficient actuators is dictated by the need to compensate for the forces and moments generated by the failed equipment or the actuator to the maximum extent possible. The results of the AUV MCS reconfiguration are obtained for a failure of a bow rudders gear during the diving maneuver on the acceleration section of the path. Vertical thrusters are taken as backups capable of compensating for the forces and moments of the jammed bow rudders gear. The comparative quantitative estimates of the AUV MCS reconfiguration were obtained by mathematical simulation of the AUV diving maneuver. Further research is needed to extend the proposed approach to other AUV systems.

中文翻译：

---

自主水下航行器运动控制系统的重构方法

摘要

讨论了用于水下航行器（AUV）的运动控制系统（MCS）的重新配置，以防止提供车辆推进和操纵的某些控件或执行器发生故障。分析了根据不同物理原理运行的执行器的特征。考虑到由于较高粘度而引起的海水介质的特征，形成了车辆运动的非线性数学模型。非线性不允许将用于重新配置飞机运动控制系统的传统方法用于本文所述的目的。提议的AUV MCS的重新配置方法包括根据车速和机动性对使用不同类型执行器的条件进行初步分析。替代高效执行器的选择取决于是否需要最大程度地补偿故障设备或执行器产生的力和力矩。AUV MCS重新配置的结果是针对在航道加速段上的潜水操纵过程中船首舵齿轮发生故障而获得的。垂直推进器被用作能够补偿被卡住的船首舵齿轮的力和力矩的后备装置。AUV MCS重新配置的定量比较估计值是通过AUV潜水机动的数学模拟获得的。需要进一步的研究以将建议的方法扩展到其他AUV系统。AUV MCS重新配置的结果是针对在航道加速段上的潜水操纵过程中船首舵齿轮发生故障而获得的。垂直推进器被用作后备，能够补偿被卡住的船首舵齿轮的力和力矩。AUV MCS重新配置的定量比较估计值是通过AUV潜水机动的数学模拟获得的。需要进一步的研究以将建议的方法扩展到其他AUV系统。AUV MCS重新配置的结果是针对在航道加速段上的潜水操纵过程中船首舵齿轮发生故障而获得的。垂直推进器被用作后备，能够补偿被卡住的船首舵齿轮的力和力矩。AUV MCS重新配置的定量比较估计值是通过AUV潜水机动的数学模拟获得的。需要进一步的研究以将建议的方法扩展到其他AUV系统。AUV MCS重新配置的定量比较估计值是通过AUV潜水机动的数学模拟获得的。需要进一步的研究以将建议的方法扩展到其他AUV系统。AUV MCS重新配置的定量比较估计值是通过AUV潜水机动的数学模拟获得的。需要进一步的研究以将建议的方法扩展到其他AUV系统。