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基于SQP算法的7000m载人潜水器有约束非线性控制分配研究
Alternative TitleConstrained Nonlinear Control Allocation of a 7000m Manned Submarine Using Sequential Quadratic Programming
俞建成; 张艾群; 王晓辉
Department水下机器人研究室
Source Publication信息与控制
ISSN1002-0411
2006
Volume35Issue:4Pages:508-512
Indexed ByCSCD
CSCD IDCSCD:2458721
Contribution Rank1
Funding Organization国家863计划资助项目(2002AA401003)
Keyword载人潜水器 水下机器人 优化控制分配 推进系统
Abstract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 programm ing,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.yh
Other AbstractThis 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.
Language中文
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3620
Collection水下机器人研究室
Corresponding Author俞建成
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
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.
APA 俞建成,张艾群,&王晓辉.(2006).基于SQP算法的7000m载人潜水器有约束非线性控制分配研究.信息与控制,35(4),508-512.
MLA 俞建成,et al."基于SQP算法的7000m载人潜水器有约束非线性控制分配研究".信息与控制 35.4(2006):508-512.
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