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文摘
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以7000m载人潜水器为研究对象，分析了潜水器的推进系统，并给出了6自由度推力转换模型，重点讨论了载人潜水器控制分配的优化问题．结合7000m载人潜水器的推进器布置和推进器特点，设计了优化准则代价函数，采用序列二次规划（sequential quadratic programming，SQP）算法求解了载人潜水器的非线性控制分配问题，通过半物理仿真平台实验验证了本文提出的控制分配算法的正确性和有效性． |
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其他语种文摘
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This paper analyses the propulsion system of a 7000m manned submarine, offers a 6-dof thrust conversion model, and discusses its optimal control allocation problem in particular. The cost function of the optimal problem is designed, considering the manned submarine thruster configuration and properties. Constrained nonlinear control allocation problem of the manned submarine is resolved with sequential quadratic programming algorithm. Finally, correctness and validity of the control allocation algorithm is validated by experiments on a semi-physical simulation platform. |
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来源
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信息与控制
,2006,35(4):508-512 【核心库】
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关键词
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载人潜水器
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水下机器人
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优化控制分配
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推进系统
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地址
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中国科学院沈阳自动化研究所, 辽宁, 沈阳, 110016
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语种
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中文 |
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文献类型
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研究性论文 |
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ISSN
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1002-0411 |
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学科
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自动化技术、计算机技术 |
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基金
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国家863计划
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文献收藏号
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CSCD:2458721
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