基于SQP算法的7000m载人潜水器有约束非线性控制分配研究

Constrained Nonlinear Control Allocation of a 7000m Manned Submarine Using Sequential Quadratic Programming

摘要: 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．

Abstract: This 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.