【摘要】 复杂洋流干扰下的水下航行器本体平衡对于后续的导航定位、路线规划有着极其重要的意义。在非线性、时变、耦合的水流干扰下,水下航行器多电机推进系统存在以下三大关键技术难点,并成为当前研究热点:1)总耗能最低的多电机推力协调分配; 2)高动态、高鲁棒性的多电机协同驱动; 3)多电机协同驱动下的故障诊断与容错控制。对此,文中分别对各个难点问题研究现状进行综述,并选取当前典型的控制策略进行详细阐述。最后,从推进电机选型以及多电机推进系统拓扑结构两方面,总结水下航行器多电机推进系统未来的发展趋势。更多还原

【Abstract】 The body balance of an underwater vehicle under complex ocean current interference is of great significance for subsequent navigation and path planning. Under nonlinear, time-varying, and coupled flow disturbances, there are three key technical difficulties in the multi-motor propulsion system of undersea vehicles that have become the current research focus: coordinated distribution of multi-motor thrust with the lowest total energy consumption; multi-motor cooperative drive with high dynamic and robustness; and fault diagnosis and fault-tolerant control of multi-motor cooperative drive. In this regard, this paper summarizes the research status of each difficult problem and elaborates on the current typical control strategy. Finally, the future development trend of the undersea vehicle multi-motor propulsion system is summarized from two perspectives: propulsion motor selection and multi-motor propulsion system topology.更多还原