基于干扰特性指标与推力分配的载人潜水器容错控制

载人潜水器在深海复杂恶劣的环境中运行, 容易受到外部环境干扰和推进器故障的困扰, 本文将干扰特性指标与基于推力分配的主动容错控制方法相结合, 提出了一种新的主动容错控制方法. 首先, 建立了载人潜水器系统的数学模型; 其次, 设计非线性干扰观测器估计系统所受的集总干扰, 并设计无推进器故障时的控制器; 然后, 针对推进器故障问题, 引入权重矩阵进行推力分配以保护故障推进器, 并设计了干扰特性指标表示干扰的性质对跟踪误差和推力损失的影响; 在此基础上, 给出了一种基于干扰特性指标与推力分配的新型容错控制方法, 李雅普诺夫方法保证了该控制算法的理论稳定性; 最后, 通过数值仿真, 验证所设计的控制方法的优越性. 其优越性主要体现在: 能够利用可用干扰与补偿有害干扰, 并将可用的干扰能量用于补偿故障推进器的推力缺失.

Fault-tolerant control for manned submersible vehicles based on disturbance characteristic index and thrust allocation

The manned submersible vehicle operates in the complex and harsh environment of the deep sea. It is affected by unknown external disturbances and thruster failures during operation. In this paper, a new active fault-tolerant control method is proposed by combining the disturbance characteristic index with the active fault-tolerant control method based on control allocation. Firstly, the model of the manned submersible vehicle is established. Secondly, a nonlinear disturbance observer is proposed to estimate the lumped disturbances of the system, and a controller without thruster fault is designed. Then, for the problem of thruster fault, a weight matrix is introduced for control allocation to protect the fault thrusters. And a disturbance characteristic index is designed to represent the effect of the disturbance on tracking error and thrust loss. On this basis, a new fault-tolerant control method based on the disturbance characteristic index and control allocation is proposed. The stability analysis of the closed-loop system is carried out strictly according to Lyapunov theory. Finally, the superiority of the proposed control method is verified by the numerical simulations. The advantages of the proposed control scheme are as follows: it can make use of the exploitable disturbances and compensate for the detrimental disturbances, and the energy of exploitable disturbance is used to make up for the thrust loss of the faulty thrusters.