吉林大学学报（信息科学版）2024，Vol.42Issue(2)：249-259,11.
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
摘要
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分类
信息技术与安全科学引用本文复制引用
刘均,闫佳丽,刘强,叶海春,王中杨,胡庆..基于推力矢量分配的ROV姿态控制技术研究[J].吉林大学学报（信息科学版）,2024,42(2):249-259,11.基金项目
国家自然科学基金资助项目(11902072) （11902072）
