Nonlinear Programming Based Fault-tolerant Control for X-rudder Underwater Vehicles with Rudder Failures
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摘要: X舵因具有优越的操纵性和安全性, 近年来被越来越多的应用于自主式水下航行器上。为了充分发挥X舵的容错能力, 提出一种面向舵故障的水下航行器容错运动控制算法, 并将其部署在一种X舵水下航行器原型上。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舵水下航行器容错运动能力。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舵水下航行器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舵水下航行器的容错操舵系统具有一定的指导意义。Abstract: X rudder has been increasingly applied to autonomous underwater vehicles in recent years due to its better maneuverability and safety. To fully utilize the fault-tolerant capability of the X rudder, this paper proposes a fault-tolerant motion control algorithm for underwater vehicles oriented towards rudder failures and deploys it on a prototype of an X rudder underwater vehicle. The fault-tolerant motion control algorithm consists of two parts: dynamics control and control allocation. In the dynamics control, the introduction of a multi-loop incremental feedback control algorithm in the output virtual rudder instruction can make it smooth and gentle. The control allocation algorithm converts the virtual rudder command 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 considering the constraints of rudder failure, rudder angle saturation, and other physical limitations. This also enables the X rudder underwater vehicle 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 underwater vehicle still maintains a certain control capability after the rudder failure. This has certain guiding significance for the design of a fault-tolerant steering system applied to X rudder underwater vehicles.
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Key words:
- x-rudder /
- AUV /
- control allocation /
- fault-tolerant control /
- nonlinear programming
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图 2 艇载软件中FSM的状态转换关系
Figure 2. State transition diagram of FSM adopted by onboard software
图 11 指令转换得到的舵机控制输入
Figure 11. The actuator’s control inputs derived from command transformation
图 13 卡舵时基于NLP的舵角指令转换结果
Figure 13. Results of NLP-based command transformation with rudder jamming
图 14 卡舵时航向和深度控制过程中横摇角变化曲线
Figure 14. Roll angle during heading and depth control with rudder jamming
表 1 X舵AUV主要参数
Table 1. Main Parameters of X-rudder AUV
参数名 参数值 艇长/m 2.964 水下全排水体积/m3 0.229 5 总质量/kg 231.9 最大推力/N 75.6 
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