上海交通大学学报

上海交通大学学报 >

2021 , Vol. 55 >Issue 11: 1493 - 1498

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2020.415

创新设计

基于协同控制的自重构平台算法及试验验证

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  • a.海洋工程国家重点实验室, 上海交通大学, 上海 200240
    b.高新船舶与深海开发装备协同创新中心, 上海交通大学, 上海 200240
于 特(1995-),男,吉林省长春市人,硕士生,研究方向为无人船控制.

收稿日期: 2020-12-11

  网络出版日期: 2021-06-08

基金资助

国家自然科学基金资助项目(51179103)

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Algorithm and Experimental Verification of Self-Assembling Platform Based on Cooperative Control

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  • a. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    b. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai Jiao Tong University, Shanghai 200240, China

Received date: 2020-12-11

  Online published: 2021-06-08

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摘要

提出一种用于构建新型海上平台的方法.基于多无人船的协同控制实现自重构海上平台,该平台可以根据需求对接成不同形状,并设计旁靠控制器使得无人船进行旁靠对接;采用电磁和连接杆实现对接,同时降低对接难度.利用水池条件构建试验场地,并进行模型试验验证该自重构平台的功能.结果表明:同构的无人船设计使得任意无人船均可以实现对接.与单一海上平台相比,该自重构平台可以完成更复杂的任务,分散的去中心化设计使其更具灵活性和可靠性.

关键词： 自重构; 无人船; 海上平台; 协同控制

本文引用格式

于特, 王磊 . 基于协同控制的自重构平台算法及试验验证[J]. 上海交通大学学报, 2021 , 55(11) : 1493 -1498 . DOI: 10.16183/j.cnki.jsjtu.2020.415

Abstract

A method for constructing a novel offshore platform was proposed. Based on the cooperative control of multiple unmanned vessels, a self-assembling platform was realized, which could be reconfigured into different shapes according to requirements. A docking controller was designed to realize the docking of two modules. A connecting rod and electromagnetic forces were adopted to complete the docking and reduce the difficulty. Besides, a test site was constructed using the conditions of pool, and a model test was performed to verify the functions of the proposed self-assembling platform. The results show that the design can realize the docking of any unmanned vessel. Compared with the single platform, this self-assembling platform can perform more complex tasks, whose decentralized design makes it more flexible and reliable.

Key words： self-assembling; unmanned vessel; offshore platform; cooperative control

参考文献

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