当前位置: X-MOL 学术Int. J. Adv. Robot. Syst. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape
International Journal of Advanced Robotic Systems ( IF 2.3 ) Pub Date : 2022-03-31 , DOI: 10.1177/17298806221090077
Gongwu Sun 1 , Jirong Xie 1 , Junqi Qu 1 , Xinguang Li 1
Affiliation  

The horizontal thrusters located as X shape is a commonly used configuration in remotely operated underwater vehicle (ROV). To improve the motion performance of the remotely operated underwater vehicle with this configuration for some typical operation tasks, a multistep thrust allocation method based on priority idea is proposed. Firstly, the thrust allocation result of every single force/moment among the horizontal thrusters is obtained by using a piecewise calculation method. Then, a thrust allocation function of multiple forces and moment is constructed, transforming the thrust allocation problem into a multiparameter optimization problem. The objective function of the optimization problem is established based on priority idea, and limits of the thrusters are considered as constraints. Finally, a thrust redistribution method is adopted in order to further utilize the unsaturated thrusters in the propulsion system. Simulation results show that the proposed thrust allocation method has various advantages over the pseudo-inverse method, which makes the remotely operated underwater vehicle perform perfectly in the given operation task. The proposed method has important practical value and application prospects.



中文翻译:

基于优先思想的X型水平推进器遥控水下航行器多步推力分配方法

X形水平推进器是遥控水下航行器(ROV)中常用的配置。为提高该配置下遥控水下航行器在一些典型作业任务中的运动性能,提出了一种基于优先级思想的多步推力分配方法。首先,采用分段计算的方法得到水平推进器中各单力/力矩的推力分配结果。然后,构造多力和力矩的推力分配函数,将推力分配问题转化为多参数优化问题。基于优先思想建立优化问题的目标函数,以推进器的极限为约束条件。最后,为了进一步利用推进系统中的不饱和推进器,采用推力再分配方法。仿真结果表明,所提出的推力分配方法与伪逆方法相比具有多种优势,使得遥控水下航行器在给定的作业任务中表现出色。该方法具有重要的实用价值和应用前景。

更新日期:2022-03-31
down
wechat
bug