The invention discloses a thrust distribution method of an overdrive operation type remote control underwater robot dynamic positioning system. According to a target propulsion system and arrangementcharacteristics, seven hydraulic propellers are divided into two groups, a thrust distribution target function and thrust constraint conditions are selected, and the optimal thrust of each propeller is solved by adopting a sequential quadratic programming optimization algorithm. Finally, the expected output thrust of the seven propellers is subjected to the action of a thrust synthesis matrix to output thrust and thrust moment of six degrees of freedom, so that six-degree-of-freedom motion control of the operation type ROV is realized, and the three-dimensional space dynamic positioning process of the operation type ROV is completed. According to the thrust distribution method used in the invention, the optimal solution limitation of the non-convex problem in the overdrive thrust distribution system is effectively solved, the thrust is reasonably distributed to each propeller, the output limitation of the propellers and the optimization result of the target function are met, and the ROV can safely work in actual engineering.
本发明公开了一种过驱动作业型遥控水下机器人动力定位系统的推力分配方法,根据目标推进系统以及布置特点,将7台液压推进器分成两组,并选取了推力分配目标函数以及推力约束条件,采用序列二次规划优化算法对每个推进器的最优推力进行求解。最后,7台推进器的期望输出推力,经过推力合成矩阵作用输出六个自由度的推力及推力矩,从而实现作业型ROV的六自由度运动控制,完成作业型ROV三维空间动力定位过程。本发明中所使用的推力分配方法有效地解决了过驱动推力分配系统中非凸问题的最优求解限制,合理的为每个推进器分配了推力,满足了推进器自身的输出限制以及对目标函数优化结果,保证实际工程中ROV能够安全作业。
Thrust distribution method of underwater robot dynamic positioning system
水下机器人动力定位系统的推力分配方法
2020-12-29
Patent
Elektronische Ressource
Chinesisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |
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