Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape

International Journal of Advanced Robotic Systems

article

Gongwu Sun¹  Jirong Xie¹  Junqi Qu¹  Xinguang Li¹ 

[1] State Key Laboratory of Deep-Sea Manned Vehicles, China Ship Scientific Research Center

关键词: Remotely operated underwater vehicle;    thrust allocation;    priority idea;    multistep;    X shape;   

DOI  :  10.1177/17298806221090077

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

The horizontal thrusters located as X shape is a commonly used configuration in remotely operated underwater vehicle (ROV). To improve the motion performance of the remotely operated underwater vehicle with this configuration for some typical operation tasks, a multistep thrust allocation method based on priority idea is proposed. Firstly, the thrust allocation result of every single force/moment among the horizontal thrusters is obtained by using a piecewise calculation method. Then, a thrust allocation function of multiple forces and moment is constructed, transforming the thrust allocation problem into a multiparameter optimization problem. The objective function of the optimization problem is established based on priority idea, and limits of the thrusters are considered as constraints. Finally, a thrust redistribution method is adopted in order to further utilize the unsaturated thrusters in the propulsion system. Simulation results show that the proposed thrust allocation method has various advantages over the pseudo-inverse method, which makes the remotely operated underwater vehicle perform perfectly in the given operation task. The proposed method has important practical value and application prospects.

【 授权许可】

CC BY