基于可行方向法的水下机器人推力分配

Thrust allocation of underwater robot based on feasible direction method

水下机器人推力分配将控制器给出的目标推力与力矩通过算法分配给各个推进器。针对水下机器人推力分配后推进器饱和问题,采用可行方向法对推力分配问题进行求解。根据推进器的空间布置情况建立通用的水下机器人推进系统数学模型。在此模型的基础上,将推力分配抽象为二次规划,利用单纯形法寻找可行的下降方向,通过一维搜索寻找最优步长。最后建立算法模型,仿真验证可行方向法和传统的伪逆法和的推力分配结果。仿真结果表明,相对传统算法,可行方向法能够更加有效地解决推力分配的饱和问题。

The thrust allocation of underwater robot allocates the target thrust and torque given by the controller to each propeller by algorithm. Aiming at the thruster saturation problem of underwater robot after thrust allocation, the feasible direction method is used to solve the thrust allocation problem. Firstly, a general mathematical model of underwater vehicle propulsion system is established according to the space arrangement of the propeller. On the basis of this model, the thrust allocation is abstracted into quadratic programming, the feasible descent direction is obtained by simplex method, and the optimal step length is acquired by one-dimensional search. Finally, the algorithm model is established to verify the thrust allocation results of feasible direction method and traditional pseudo inverse method. The simulation results show that the feasible direction method can solve the saturation problem of thrust allocation more effectively than the traditional algorithm.