Internal actuation of underwater robots using Control Moment Gyros
Internal actuation of underwater robots using Control Moment Gyros
复制标题
使用控制力矩陀螺仪的水下机器人内部驱动
DOI：
10.1109/oceanse.2005.1511781
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
S. Turnock
中科院分区：
文献类型：
--
作者：
B. Thornton;T. Ura;Y. Nose;S. Turnock
提出了一种基于控制力矩陀螺（CMGs）的内驱动控制方案，并以此为基础设计了一种适用于自主水下航行器（AUV）的无约束姿态控制系统。推导了CMG驱动水下机器人的耦合动力学方程，考虑了与流体环境的相互作用。基于耦合系统的能量考虑，提出了一种非线性反馈控制律。讨论了控制力矩陀螺的奇异性、冗余性和零运动，并基于零运动的微分几何给出了一个数学上的可解条件。一个CMG金字塔的奇异性的几何研究形成了一个全球性的指导法律，保证实时的奇异性避免，同时保持在一些受约束的工作空间的准确性的基础。讨论了为实验室规模的水下机器人开发的CMG金字塔的实际设计考虑。最后，使用CMG金字塔的实际实验结果，以证明系统的转向和控制性能。
A novel control scheme based on internal actuation using Control Moment Gyros (CMGs) is proposed as the basis of an unrestricted attitude control system suitable for application to Autonomous Underwater Vehicles (AUVs). The coupled dynamic equations of a CMG actuated underwater robot are derived, taking into account interactions with the fluid environment. A nonlinear feedback control law is developed based on energy considerations of the coupled system. Singularities, redundancy and null motion are discussed in the context of CMGs and a mathematical escapability condition is developed based on the differential geometry of null motion. A geometric study of a CMG pyramid's singularities forms the basis of a global steering law that guarantees real-time singularity avoidance whilst maintaining exactness in some constrained workspace. The practical design considerations of a CMG pyramid developed for a laboratory scale underwater robot are discussed. Finally the results of practical experiments using the CMG pyramid are presented to demonstrate the steering and control performance of the system.