Research on Thruster Fault Tolerant Control Allocation of a 7000m Manned Submarine

This paper introduces the propulsion system components and the thruster configuration of a manned submarine with 7000m operation depth at first.Then control allocation problem of underwater vehicle is described,and thruster forces and desired control vectors are normalized in the control allocation process.Control allocation model of the manned submarine is presented considering its thruster configuration,and a thruster fault tolerant strategy is designed.Thirdly,this paper studies the solution method for manned submarine control allocation based on minimal thrust 2-norm.Finally,using a hybrid control allocation solution algorithm based on pseudo-inverse matrixes and fixed-point allocation,the validity and effectiveness of the control allocation algorithm are validated by experiments on semi-physical simulation platform.