基于非线性规划的X舵AUV容错控制

Nonlinear Programming-Based Fault-Tolerant Control for X-Rudder AUVs

为了充分发挥X舵自主水下航行器(AUV)的容错能力,提出一种面向舵故障的AUV容错运动控制算法,并将其部署在一种X舵AUV原型上。容错运动控制算法由动力学控制和控制分配两部分组成。其中,动力学控制中多闭环增量反馈控制算法的引入可以使输出的虚拟舵角指令平缓且平滑;控制分配算法通过求解以分配误差和控制输出最小化为优化目标,以舵故障、舵角饱和以及其他物理限制为约束条件的非线性规划问题,实现了虚拟舵角向X舵执行机构控制输入的转换,且赋予了X舵AUV容错运动能力。现场试验结果表明,所提出的容错运动控制算法产生的舵角指令是平滑的,且X舵AUV在舵故障后仍保持一定的航行控制能力,这对设计应用于X舵AUV的容错操舵系统具有一定的指导意义。

To fully utilize the fault-tolerant capability of the X-rudder autonomous undersea vehicles(AUVs),a fault-tolerant motion control algorithm for AUVs oriented towards rudder failures was proposed,and it was deployed on a prototype of an X-rudder AUV.The fault-tolerant motion control algorithm consisted of two parts:dynamics control and control allocation.In dynamics control,the introduction of a multi-loop incremental feedback control algorithm could make the output virtual rudder instruction smooth and gentle.The control allocation algorithm converted the virtual rudder to the control input of the X-rudder actuator by solving a nonlinear programming problem,with the optimization goal of minimizing the allocation error and control output,and the constraints of rudder failure,rudder angle saturation,and other physical limitations were considered.This also enabled the X-rudder AUV to have fault-tolerant motion capabilities.Field trial results show that the rudder instructions generated by the fault-tolerant motion control algorithm proposed in this paper are smooth,and the X-rudder AUV still maintains a certain navigation control capability after the rudder failure.This has a certain guiding significance for the design of a fault-tolerant steering system applied to X-rudder AUVs.