刘建成, 万磊, 戴捷, 庞永杰. 水下机器人推力器容错控制技术的研究[J]. 机器人, 2003, 25(2): 163-166.
引用本文: 刘建成, 万磊, 戴捷, 庞永杰. 水下机器人推力器容错控制技术的研究[J]. 机器人, 2003, 25(2): 163-166.
LIU Jian-cheng, WAN Lei, DAI Jie, PANG Yong-jie. THRUSTER FAULT-TOLERANT CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE[J]. ROBOT, 2003, 25(2): 163-166.
Citation: LIU Jian-cheng, WAN Lei, DAI Jie, PANG Yong-jie. THRUSTER FAULT-TOLERANT CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE[J]. ROBOT, 2003, 25(2): 163-166.

水下机器人推力器容错控制技术的研究

THRUSTER FAULT-TOLERANT CONTROL OF AN AUTONOMOUS UNDERWATER VEHICLE

  • 摘要: 为保证自主式水下机器人在高压、可见度差的未知海洋环境下顺利完成作业任务,必然要求水下机器人具有容错控制能力.本文主要以哈尔滨工程大学研制的“智水Ⅲ”型水下机器人为对象,探讨水下机器人推力器容错控制技术,文中先给出在正常情况下水下机器人的解耦控制器及推力分配,然后给出了在推力器出现故障时的容错控制策略,仿真结果表明,该控制器及容错控制策略都能达到很好的控制精度.

     

    Abstract: In order to insure that autonomous underwater vehicle completes the tasks successfully in unstructured and hazardous oceanic environment with the high pressure and low visibility, an efficient and effective fault-tolerant control system becomes imperative for AUVs. This paper discussed thrust fault-tolerant control technology for ZHISHUI Ⅲ AUV, designed at Harbin Engineering University. A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given. Results from computer simulation show that the precision of the fault-tolerant control approach is satisfactory.

     

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