Multistep thrust allocation method based on priority idea for remotely operated underwater vehicle with horizontal thrusters configured as X shape

Abstract

The horizontal thrusters located as X shape is a commonly used configuration in remotely operated underwater vehicle (ROV). To improve the motion performance of the remotely operated underwater vehicle with this configuration for some typical operation tasks, a multistep thrust allocation method based on priority idea is proposed. Firstly, the thrust allocation result of every single force/moment among the horizontal thrusters is obtained by using a piecewise calculation method. Then, a thrust allocation function of multiple forces and moment is constructed, transforming the thrust allocation problem into a multiparameter optimization problem. The objective function of the optimization problem is established based on priority idea, and limits of the thrusters are considered as constraints. Finally, a thrust redistribution method is adopted in order to further utilize the unsaturated thrusters in the propulsion system. Simulation results show that the proposed thrust allocation method has various advantages over the pseudo-inverse method, which makes the remotely operated underwater vehicle perform perfectly in the given operation task. The proposed method has important practical value and application prospects.

Thruster fault identification using improved peak region energy and multiple model least square support vector data description for autonomous underwater vehicle

“…According to the evidence theory, the sum of the basic probability assignment functions of the fused signal, given the symbol A F n ð Þ, is equal to 1. 43 The A F n ð Þ is convoluted by equation ( 1) and the sum of the convolution result is expressed in equation (2).…”

“…1 Unmanned underwater vehicles such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs) are ideal platforms for marine resources exploration. 2,3 AUVs have received more and more attention attributing to their ability to complete underwater missions without mother ship support and manual intervention. 4,5 Thrusters as universal power components are often used in AUVs.…”