深海载人潜水器推力器布置与容错性能

深海载人潜水器能够搭载科学家至深海海底开展精细化取样作业,已成为人类开展深海科学研究和资源勘探开发必不可少的工具。推力器是潜水器机动的主要执行机构,其合理的布置不仅关系潜器操纵性能也直接影响其故障时容错性能。本文首先系统梳理了现役国内外6台深海载人潜水器推力器的布置形式及其参与推力分配的运动模态,基于推力器布置方案分别比较分析了推力器故障情况下的容错控制方案并和优缺点。结果发现用矢量和可回转推力器代替固定推力器可以提高系统的容错控制能力,本文研究对于后续载人潜水器推力器布置和容错控制设计可提供参考借鉴。

Research on Thruster Arrangement and Fault-tolerant Control of Deep Sea Human Occupied Vehicle

Deep-sea human occupied vehicle can take scientists to the bottom of ocean to carry out fine sampling operation, and has become the most important tool of deep-sea scientific research and resources exploration. Thruster is the main actuator of human occupied vehicle underwater, and it is configuration influence the control and fault-tolerant performance directly. This paper introduces the configuration and sports mode of thruster of 6 deep-sea human occupied vehicle at home and abroad, and then analysis the fault-tolerant control scheme based on the thruster configuration. In the end, finding that using vector and rotation thruster instead of fixed thruster can improve the ability of fault-tolerant control, providing reference in the aspect of thruster configuration and fault-tolerant control.