引用本文: 孙功武, 苏义鑫, 毛英, 谢基榕, 焦慧峰, 屈俊琪. 基于模糊逻辑的混合推进ROV多级推力分配策略[J]. 机器人, 2023, 45(4): 472-482.
SUN Gongwu, SU Yixin, MAO Ying, XIE Jirong, JIAO Huifeng, QU Junqi. Multi-level Thrust Allocation Method Based on Fuzzy Logic for a Remotely Operated Vehicle with Hybrid Propulsion System[J]. ROBOT, 2023, 45(4): 472-482.
 Citation: SUN Gongwu, SU Yixin, MAO Ying, XIE Jirong, JIAO Huifeng, QU Junqi. Multi-level Thrust Allocation Method Based on Fuzzy Logic for a Remotely Operated Vehicle with Hybrid Propulsion System[J]. ROBOT, 2023, 45(4): 472-482.

## Multi-level Thrust Allocation Method Based on Fuzzy Logic for a Remotely Operated Vehicle with Hybrid Propulsion System

• 摘要: 为发挥ROV（遥控水下机器人）混合推进中电动推进系统高效率、大容量和液压推进系统快响应的组合优势，提出了一种基于模糊逻辑的多级推力分配策略。首先，该策略通过3维模糊控制器实现期望纵向力增量的分配；然后，考虑2种推进系统的推力性能进行期望纵向力的分配计算，从而将期望纵向力分解为2部分，分别对应于2种推进系统；最后，针对电动推进系统和液压推进系统分别开展推力分配，得到每台推进器的推力指令。仿真对比结果表明所提策略能够根据推力需求及推进系统状态对纵向力的分配比例进行动态调节，使ROV具有较好的运动性能和较高的运行效率，验证了该策略比伪逆法更加灵活有效。

Abstract: For a remotely operated vehicle (ROV) with hybrid propulsion system, a multi-level thrust allocation method based on fuzzy logic is proposed, to combine the advantages of high efficiency and large capacity of electric propulsion system, and the advantage of fast response of hydraulic propulsion system. Firstly, a three-dimensional fuzzy controller is constructed to distribute the increment of the expected longitudinal force. Then, the allocation of the desired longitudinal force is calculated considering the thrust capabilities of the two propulsion systems, and the expected longitudinal force is divided into two parts, corresponding to the two propulsion systems respectively. Finally, the thrust allocation is carried out respectively for the electric propulsion system and the hydraulic propulsion system, and the thrust command for each thruster is obtained. Comparative simulation results show that the allocation proportion of the expected longitudinal force can be adjusted dynamically according to requirements of thrust and states of the propulsion systems, which brings the ROV a good performance in terms of motion ability and operation efficiency. It is verified that the proposed method is more flexible and effective than the pseudo-inverse method.

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