摘要
过驱动系统现如今已经广泛的存在于各个科学应用领域,控制分配是处理冗余控制的一种常用方法;同时,控制分配也是过驱动航行器运动控制中的一项关键技术。本文主要介绍控制分配技术在水中航行器的应用情况。详细描述了应用到的控制分配方法原理,指出各种方法的优缺点,重点阐述了控制分配技术在水下机器人方面的应用情况。最后对控制分配相关存在的问题进行总结,并且讨论了控制分配技术的发展方向。
Overdrive systems are now widely used in various scientific applications, and control allocation is a common method for handling redundant control;moreover, control allocation is a key technology in the motion control of overdriven vehicles, this paper mainly introduces the application of control allocation technology in underwater vehicles, including ships and underwater robots. The principle of the control allocation method applied to the system is described in detail,point out the advantages and disadvantages of the various methods, emphasized the application of control allocation technology in underwater robots. Finally, summarize some problems associated with control allocation, discussed the possible development direction of control allocation technology in the future.
作者
李岳明
王小平
张英浩
庞家明
闫力新
LI Yue-ming;WANG Xiao-ping;ZHANG Ying-hao;PANG Jia-ming;YAN Li-xin(College of Shipbuilding Engineering,Key Laboratory of Science and Technology on Underwater Vehicle,Harbin Engineering University,Harbin 150001,China)
出处
《舰船科学技术》
北大核心
2020年第1期1-5,共5页
Ship Science and Technology
基金
国家自然科学基金资助项目(51509057)
中央高校基本科研业务费专项资金资助项目(HEUCF180102)
关键词
ROV
AUV
控制分配
多操纵面
X-舵
ROV
AUV
control allocation
multiple control surfaces
X-rudder
