于特^a, 王磊^a,b()

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

收稿日期:2020-12-11出版日期:2021-11-28发布日期:2021-12-03
通讯作者:王磊E-mail:wanglei@sjtu.edu.cn
作者简介:于 特(1995-),男,吉林省长春市人,硕士生,研究方向为无人船控制.
基金资助:国家自然科学基金资助项目(51179103)

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

YU Te^a, WANG Lei^a,b()

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:2020-12-11Online:2021-11-28Published:2021-12-03
Contact:WANG Lei E-mail:wanglei@sjtu.edu.cn

摘要/Abstract

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
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


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