【摘要】 为保证自主式水下机器人在高压、可见度差的未知海洋环境下顺利完成作业任务,必然要求水下机器人具有容错控制能力。本文主要以哈尔滨工程大学研制的“智水Ⅲ”型水下机器人为对象,探讨水下机器人推力器容错控制技术,文中先给出在正常情况下水下机器人的解耦控制器及推力分配,然后给出了在推力器出现故障时的容错控制策略,仿真结果表明,该控制器及容错控制策略都能达到很好的控制精度。更多还原

【Abstract】 In order to insure that autonomous underwater vehicle completes the tasks successfully in unstructured and hazardous oceanic environment with the high pressure and low visibility, an efficient and effective fault-tolerant control system becomes imperative for AUVs. This paper discussed thrust fault-tolerant control technology for ZHISHUI Ⅲ AUV, designed at Harbin Engineering University. A decoupling controller and an approach to the allocation of thruster forces of an AUV are investigated first, then a fault-tolerant control approach under thruster fault is given. Results from computer simulation show that the precision of the fault-tolerant control approach is satisfactory.更多还原