| Attitude Coordination of Multi-HUG Formation Based on Multibody System Theory |
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| 作者姓名： | XUE Dong-yang WU Zhi-liang QI Er-mai WANG Yan-hui WANG Shu-xin |
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| 作者单位： | Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China,National Ocean Technology Center, Tianjin 300112, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China |
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| 基金项目： | This work is financially supported by the National Natural Science Foundation of China (Grant Nos. 51205277, 51475319 and 51575736), the National Key R& D Program of China (Grant No. 2016YFC0301100) and Tianjin University Elite Scholar Program. |
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| 摘 要： | Application of multiple hybrid underwater gliders (HUGs) is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field (APF) approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect.
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| 关 键 词： | hybrid underwater gliders (HUGs) formation attitude coordination multibody system Kane''s equation |
| 收稿时间： | 2015/12/5 0:00:00 |
| 修稿时间： | 2016/11/5 0:00:00 |
Attitude Coordination of Multi-HUG Formation Based on Multibody System Theory |
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| XUE Dong-yang,WU Zhi-liang,QI Er-mai,WANG Yan-hui,WANG Shu-xin.Attitude Coordination of Multi-HUG Formation Based on Multibody System Theory[J].Ocean Engineering,2017,31(2):248-255. |
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| Authors: | XUE Dong-yang WU Zhi-liang QI Er-mai WANG Yan-hui and WANG Shu-xin |
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| Institution: | Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China,National Ocean Technology Center, Tianjin 300112, China,Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China and Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China;School of Mechanical Engineering, Tianjin University, Tianjin 300072, China |
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| Abstract: | Application of multiple hybrid underwater gliders (HUGs) is a promising method for large scale, long-term ocean survey. Attitude coordination has become a requisite for task execution of multi-HUG formation. In this paper, a multibody model is presented for attitude coordination among agents in the HUG formation. The HUG formation is regarded as a multi-rigid body system. The interaction between agents in the formation is described by artificial potential field (APF) approach. Attitude control torque is composed of a conservative torque generated by orientation potential field and a dissipative term related with angular velocity. Dynamic modeling of the multibody system is presented to analyze the dynamic process of the HUG formation. Numerical calculation is carried out to simulate attitude synchronization with two kinds of formation topologies. Results show that attitude synchronization can be fulfilled based on the multibody method described in this paper. It is also indicated that different topologies affect attitude control quality with respect to energy consumption and adjusting time. Low level topology should be adopted during formation control scheme design to achieve a better control effect. |
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| Keywords: | hybrid underwater gliders (HUGs) formation attitude coordination multibody system Kane''s equation |
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