| 基于SQP算法的7000m载人潜水器有约束非线性控制分配研究 |
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| 引用本文： | 俞建成,张艾群,王晓辉. 基于SQP算法的7000m载人潜水器有约束非线性控制分配研究[J]. 信息与控制, 2006, 35(4): 508-512 |
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| 作者姓名： | 俞建成 张艾群 王晓辉 |
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| 作者单位： | 1. 中国科学院沈阳自动化研究所,辽宁,沈阳,110016;中国科学院研究生院,北京,100049
2. 中国科学院沈阳自动化研究所,辽宁,沈阳,110016 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 以7000m载人潜水器为研究对象，分析了潜水器的推进系统，并给出了6自由度推力转换模型，重点讨论了载人潜水器控制分配的优化问题．结合7000m载人潜水器的推进器布置和推进器特点，设计了优化准则代价函数，采用序列二次规划（sequential quadratic programming，SQP）算法求解了载人潜水器的非线性控制分配问题，通过半物理仿真平台实验验证了本文提出的控制分配算法的正确性和有效性．
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| 关 键 词： | 载人潜水器 水下机器人 优化控制分配 推进系统 |
| 文章编号： | 1002-0411（2006）04-0508-05 |
| 收稿时间： | 2005-10-10 |
| 修稿时间： | 2005-10-10 |
Constrained Nonlinear Control Allocation of a 7000m Manned Submarine Using Sequential Quadratic Programming |
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| YU Jian-cheng,ZHANG Ai-qun,WANG Xiao-hui. Constrained Nonlinear Control Allocation of a 7000m Manned Submarine Using Sequential Quadratic Programming[J]. Information and Control, 2006, 35(4): 508-512 |
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| Authors: | YU Jian-cheng ZHANG Ai-qun WANG Xiao-hui |
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| Affiliation: | 1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China ; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China |
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| Abstract: | This paper analyses the propulsion system of a 7000m manned submarine, offers a 6-dof thrust conversion model, and discusses its optimal control allocation problem in particular. The cost function of the optimal problem is designed, considering the manned submarine thruster configuration and properties. Constrained nonlinear control allocation problem of the manned submarine is resolved with sequential quadratic programming algorithm. Finally, correctness and validity of the control allocation algorithm is validated by experiments on a semi-physical simulation platform. |
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| Keywords: | manned submarine underwater vehicle optimal control allocation propulsion system |
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