基于非线性规划的X舵AUV容错控制

陈莺

doi:10.11993/j.issn.2096-3920.2023-0133

基于非线性规划的X舵AUV容错控制

doi: 10.11993/j.issn.2096-3920.2023-0133

陈莺

武汉商学院机电工程学院, 湖北武汉, 430056

详细信息

作者简介:
陈莺：陈　莺(1990-), 女, 博士, 讲师, 主要研究方向为智能海洋装备技术

中图分类号: TJ630.33; U661.3
计量
- 文章访问数: 228
- HTML全文浏览量: 71
- PDF下载量: 53
- 被引次数: 0
出版历程
- 收稿日期: 2023-10-17
- 修回日期: 2023-11-22
- 录用日期: 2023-12-08
- 网络出版日期: 2024-03-12

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

CHEN Ying

School of Electronics Engineering, Wuhan Business University, Wuhan 430056, China

摘要

摘要: 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。
- 自主水下航行器 /
- X舵 /
- 控制分配 /
- 容错控制 /
- 非线性规划
Abstract: 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.
- autonomous undersea vehicle /
- X-rudder /
- control allocation /
- fault-tolerant control /
- nonlinear programming

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图 1 X舵AUV硬件布局

Figure 1. Hardware layout of X-rudder AUV

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图 2 艇载软件中FSM状态转换关系

Figure 2. State transition diagram of FSM adopted by onboard software

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图 3 AUV坐标系定义

Figure 3. Description of the AUV coordinate systems

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图 4 偏转角符号定义

Figure 4. Definition of deflection angle symbol

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图 5 DIFC原理图

Figure 5. Principle diagram of DIFC

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图 6 AUV拖曳水池试验现场

Figure 6. AUV field tests in the towing tank

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图 7 X舵AUV深度控制结果

Figure 7. Depth control results of X-rudder AUV

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图 8 X舵AUV航向控制结果

Figure 8. Heading control results of X-rudder AUV

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图 9 X舵AUV各控制回路误差

Figure 9. Errors of each control loop of X-rudder AUV

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图 10 DIFC计算的虚拟舵角指令

Figure 10. Virtual rudder commands from DIFC

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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 conversion

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图 12 卡舵时深度和航向控制曲线

Figure 12. Curves of depth and heading control with rudder jamming

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图 13 卡舵时基于NLP的舵角指令转换结果

Figure 13. Results of NLP-based command conversion with rudder jamming

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图 14 卡舵时航向和深度控制过程中横滚角变化曲线

Figure 14. Curves of roll angle during heading and depth control with rudder jamming

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表 1 X舵AUV主要参数

Table 1. Main parameters of X-rudder AUV

参数数值

艇长/m 2.964 0
水下全排水体积/m³ 0.229 5
总质量/kg 231.900 0
最大推力/N 75.600 0

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表 2 卡舵故障设置

Table 2. Rudder jamming settings

试验序号故障舵序号 β/(°)

1 舵1 0
2 舵1 −5
3 舵3 −10

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