水下无人系统学报2024，Vol.32Issue(2)：345-353,9.DOI:10.11993/j.issn.2096-3920.2023-0133
基于非线性规划的X舵AUV容错控制
Nonlinear Programming-Based Fault-Tolerant Control for X-Rudder AUVs
陈莺1
作者信息
- 1. 武汉商学院 机电工程学院,湖北 武汉,430056
- 折叠
摘要
Abstract
To fully utilize the fault-tolerant capability of the X-rudder autonomous undersea vehicles(AUVs),a fault-tolerant motion control algorithm for AUVs oriented towards rudder failures was proposed,and it was deployed on a prototype of an X-rudder AUV.The fault-tolerant motion control algorithm consisted of two parts:dynamics control and control allocation.In dynamics control,the introduction of a multi-loop incremental feedback control algorithm could make the output virtual rudder instruction smooth and gentle.The control allocation algorithm converted the virtual rudder to the control input of the X-rudder actuator by solving a nonlinear programming problem,with the optimization goal of minimizing the allocation error and control output,and the constraints of rudder failure,rudder angle saturation,and other physical limitations were considered.This also enabled the X-rudder AUV to have fault-tolerant motion capabilities.Field trial results show that the rudder instructions generated by the fault-tolerant motion control algorithm proposed in this paper are smooth,and the X-rudder AUV still maintains a certain navigation control capability after the rudder failure.This has a certain guiding significance for the design of a fault-tolerant steering system applied to X-rudder AUVs.关键词
自主水下航行器/X舵/控制分配/容错控制/非线性规划Key words
autonomous undersea vehicle/X-rudder/control allocation/fault-tolerant control/nonlinear programming分类
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陈莺..基于非线性规划的X舵AUV容错控制[J].水下无人系统学报,2024,32(2):345-353,9.
