CN117608198A - Method, system and device for distributing weighted pseudo-inverse thrust of propeller - Google Patents
Method, system and device for distributing weighted pseudo-inverse thrust of propeller Download PDFInfo
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Abstract
The invention discloses a weighted pseudo-inverse thrust distribution method, a system and a device for a propeller, wherein the method determines an arrangement matrix of the propeller according to a thrust vector and a moment arm of the propeller; singular value decomposition is carried out on the arrangement matrix, and a pseudo-inverse matrix of the arrangement matrix is determined; according to the pseudo-inverse matrix principle of the pseudo-inverse matrix, calculating a zero space matrix of the arrangement matrix; calculating to obtain a zero space vector according to the zero space matrix and the variable; determining an energy consumption function of the propeller; determining a desired variable and a cost function based on a weighted pseudo-inverse allocation algorithm according to a desired target; and updating the output information of the controller, and under the condition that the constraint condition is met, updating the expected variable in the cost function, and determining the output thrust of the propeller. The invention combines and considers the weights of different propellers in the thrust distribution process, and simultaneously optimizes the redundancy solution by utilizing the zero space, thereby reducing the energy loss.
Description
Technical Field
The invention relates to the technical field of propellers, in particular to a weighted pseudo-inverse thrust distribution method, a system and a device for a propeller.
Background
Thrust distribution is critical to the handling and navigation of underwater robots. By flexibly adjusting the thrust of each propeller or hydrodynamic rudder, the underwater robot can realize highly accurate directional control and position adjustment. In a Remotely Operated Vehicle (ROV), a plurality of channel thrusters are usually arranged, each channel thruster can be independently operated, and the states of the ROV, such as floating, submerging and the like in water, are realized by adjusting the output thrust of each thruster. And the design of the channel propeller is more convenient for maintenance, and reduces the risk of collision with the seabed or other underwater obstacles.
However, conventional pseudo-inversion methods do not adequately account for physical limitations of the impeller, while some zero-space pseudo-inversion methods meet the physical limitations of the impeller, but do not account for errors before and after dispensing. Under a dynamic environment, the number of the propellers is increased, and the calculation complexity index is increased, so that the real-time regulation and control are not facilitated. The dynamics of the system is modeled by a weight pseudo-inverse method, but if the model is inaccurate or the dynamic change of the system is large, the thrust distribution result is inaccurate. The null space may fall into a local optimum and not reach a global optimum.
Disclosure of Invention
According to one aspect of the invention, a weighted pseudo-inverse thrust distribution method, a system and a device for a propeller are provided, the cost function is optimized, the energy consumption loss is reduced, and the propeller distribution precision is increased.
In order to solve the technical problems, the first aspect of the invention discloses a weighted pseudo-inverse thrust distribution method of a propeller, which comprises the following steps:
determining an arrangement matrix of the propeller according to the thrust vector and the arm of force of the propeller;
singular value decomposition is carried out on the arrangement matrix, and a pseudo-inverse matrix of the arrangement matrix is determined;
according to the pseudo-inverse matrix principle of the pseudo-inverse matrix, calculating a zero space matrix of the arrangement matrix; calculating to obtain a zero space vector according to the zero space matrix and the variable;
determining an energy consumption function of the propeller;
determining a desired variable and a cost function based on a weighted pseudo-inverse allocation algorithm according to a desired target;
and updating the output information of the controller, and under the condition that the constraint condition is met, updating the expected variable in the cost function, and determining the output thrust of the propeller.
In some embodiments, the determining the arrangement matrix of the propeller according to the thrust vector and the moment arm of the propeller specifically includes:
calculating the thrust and moment generated in the direction of the six degrees of freedom of the ROV according to the thrust vector and the moment arm of the propeller;
the thrust force and moment generated by each propeller are superimposed to determine the arrangement matrix of the propellers.
In some embodiments, singular value decomposition is performed on the arrangement matrix to determine a pseudo-inverse of the arrangement matrix, specifically:
determining a cost function according to the output thrust and torque, defining a Lagrangian function, and performing bias guide on the thrust through the Lagrangian function;
and when the thrust structure is not singular, expressing the thrust through Lagrangian multiplier vectors, and determining a pseudo-inverse matrix of the arrangement matrix.
In some embodiments, calculating a null space matrix of the arrangement matrix according to a pseudo-inverse principle of the pseudo-inverse matrix comprises:
and carrying out SVD decomposition on the arrangement matrix, and determining a zero space matrix of the arrangement matrix according to the pseudo-inverse matrix and the arrangement matrix after SVD decomposition.
In some embodiments, the energy consumption function of the propeller is determined as:
and determining the relation between the total power of the propeller and the thrust according to the relation between the power of the propeller and the thrust of the propeller.
In some embodiments, determining a cost function and a desired variable based on a weighted pseudo-inverse allocation algorithm according to a desired objective includes:
determining a cost function of the propeller according to the energy consumption function of the propeller, the errors before and after distribution and the propeller variation;
and determining a minimum cost function value meeting constraint conditions through zero space vector determination, and determining a desired variable.
In some embodiments, the cost function is:
wherein J is a cost function, Δf represents a propeller change value, f max Represents the maximum value of the output thrust of the propeller, f min Representing the minimum value of the output thrust of the propeller, W τ ∈R 6x6 A weight matrix for representing the control distribution error, and measuring the errors of the control force and the moment before and after distribution; w (W) f ∈R 8x8 Weight matrix representing control propeller input, W Δf ∈ R8x8 Weight matrix representing two thrust changes of propeller, W f And W is Δf Designed as a unit matrix; gamma, delta are scale factors representing the importance of the secondary target; τ represents the thrust and torque output by the propeller; τ d The thrust and the moment are output by the controller;
W τ ∈R 6×6 the method comprises the following steps:
W τ ＝diag{k 1 ，k 2 ，k 3 ，k 4 ，k5，k 6 }
k i corresponding to the respective thrust and moment.
In some embodiments, the output thrust f of the propeller i (x)：
Wherein X is ＊ Is the expected vector，τ d The thrust and the moment are output by the controller; v (V) null Is a zero space matrix, V 0 In order to arrange the matrix, remove the residual matrix of the zero space matrix after SVD decomposition, U is the matrix of SVD decomposition defined in the mathematical definition,the pseudo-inverse of the arrangement matrix calculated from the mathematical definition after decomposition for SVD.
According to a second aspect of the present invention, there is disclosed a propeller control system comprising:
the arrangement matrix calculation module is used for determining an arrangement matrix of the propeller according to the thrust vector and the moment arm of the propeller;
the pseudo-inverse matrix calculation module is used for carrying out singular value decomposition on the arrangement matrix and determining a pseudo-inverse matrix of the arrangement matrix;
and the zero space vector calculation module calculates a zero space matrix of the arrangement matrix according to the pseudo-inverse matrix principle of the pseudo-inverse matrix and calculates a zero space vector according to the zero space matrix and the variable direction.
The energy consumption function calculation module is used for determining an energy consumption function of the propeller;
the cost function calculation module is used for determining a cost function and an expected variable of the propeller according to the expected target;
and the output thrust calculation module is used for updating the output information of the controller, updating the expected variable in the cost function under the condition that the constraint condition is met, and determining the output thrust of the propeller.
According to a third aspect of the present invention, there is disclosed a propeller control apparatus comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform a weighted pseudo-inverse thrust distribution method of a propeller as claimed in any one of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a weighted pseudo-inverse thrust distribution method, a system and a device of a propeller, firstly, modeling and resolving are carried out on the propeller to obtain a layout matrix, and a zero space of the layout matrix is calculated; introducing a variable, and changing the thrust command of the propeller by changing the variable; taking constraint conditions of the propeller and energy consumption of the propeller into consideration, a weighted pseudo-inverse allocation algorithm based on a zero space is proposed. The invention combines and considers the weights of different propellers in the thrust distribution process, and simultaneously optimizes the redundancy solution by utilizing the zero space, thereby reducing the energy loss.
Drawings
FIG. 1 is a schematic flow chart of a weighted pseudo-inverse thrust distribution method for a propeller according to the present invention;
FIG. 2 is a schematic diagram of a horizontal direction arrangement of a propeller according to a weighted pseudo-inverse thrust distribution method of the present invention;
FIG. 3 is a schematic flow chart of a vertical direction arrangement of propeller water of a weighted pseudo-inverse thrust distribution method of a propeller provided by the invention;
FIG. 4 is a schematic view of ROV motion effect of a weighted pseudo-inverse thrust distribution method of a propeller according to the present invention;
FIG. 5 is a schematic diagram of the output thrust of the propeller in the weighted pseudo-inverse thrust distribution method of the propeller provided by the present invention;
FIG. 6 is a schematic diagram of the output power of a propeller according to the method for weighted pseudo-inverse thrust distribution of a propeller according to the present invention;
FIG. 7 is a graph of the effect of the ROV motion of a propeller according to the weighted pseudo-inverse thrust distribution method of the present invention;
FIG. 8 is a schematic diagram of the output thrust of a propeller according to the method for weighted pseudo-inverse thrust distribution of a propeller according to the present invention;
fig. 9 is a schematic diagram of output power of a propeller according to a weighted pseudo-inverse thrust distribution method of the present invention.
Detailed Description
For a better understanding and implementation, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those steps or modules that are expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1 to 9, the embodiment of the invention discloses a weighted pseudo-inverse thrust distribution method of a propeller, which enables the overall power of an ROV to be smaller and the energy consumption to be lower on the premise of ensuring that the control force and the moment can be effectively distributed.
In the present application, thrust force F generated by the propeller i And thrust F, all of the same physical quantity, differing in thrust F i The thrust force f is suitable for mathematical derivation processes, and the thrust force f is suitable for calculation processes.
As shown in fig. 1, the method comprises the following steps:
and S1, determining an arrangement matrix of the propeller according to the thrust vector and the moment arm of the propeller.
The subject of this application is an eight-propeller ROV, which uses a pipeline propeller. The horizontal and vertical arrangements of the propeller are shown in figures 2 and 3.
Calculating the thrust and moment generated in the direction of the six degrees of freedom of the ROV according to the thrust vector and the moment arm of the propeller;
thrust vectors of the propeller in the x-axis, the y-axis and the z-axis areArm of forcel x 、l y 、l z The force arms of the propeller on the x axis, the y axis and the z axis are respectively, and the thrust and the moment generated in the direction of the six degrees of freedom of the ROV are as follows:
a propeller arranged in the horizontal direction with the coordinates x i ,y i ,z i ]An included angle theta with the positive direction of the ox axis i I denotes the ith propeller, assuming the thrust generated is F i The force generated is:
the propellers being arranged in a vertical direction, the coordinates being [ x ] i ,y i ,z i ]The forces generated are:
where K, M, N denotes the rotational moment of the propeller in three directions of x-axis, y-axis and z-axis, i denotes the ith propeller.
Superposing the force and the moment generated by each propeller, f represents the thrust of each propeller, τ represents the thrust and the moment output by the propeller,the method can obtain the following steps:
Bu＝τ
wherein B is E R 6x8 Is the arrangement matrix of the propellers, u is the vector of the thrust components of each propeller, and the set of the thrust forces f.
S2, singular value decomposition is carried out on the arrangement matrix, and a pseudo-inverse matrix of the arrangement matrix is determined.
Determining a cost function according to the output thrust and torque, and assuming that the cost function is considered as follows:
min J＝f T W p f
s.t τ d -Bf＝0
where J is a cost function, f T Is the transposed matrix of the thrust force f, W p As the weight matrix, the specific value tau can be determined according to the actual situation d The thrust and the moment are output by the controller.
The Lagrangian function is defined as:
L(f，λ)＝f T W p f+λ T (τ d -Bf)
where λ is a lagrangian multiplier vector, and the derivation of the thrust f by the lagrangian function may be:
let the above formula equal 0, give:
when the propulsion system thrust structure is not singular, i.e. det (BB T ) Not equal to 0, it can be seen thatThe inverse matrix exists, and the Lagrangian multiplier vector lambda can be obtained by combining the constraint of the equation as shown in the formula:
the method can obtain:
order theThe method can obtain:
wherein,is a generalized inverse matrix.
S3, calculating a zero space matrix of the arrangement matrix according to the pseudo-inverse matrix principle of the pseudo-inverse matrix, and calculating a zero space vector according to the zero space matrix and the variable;
firstly, SVD decomposition is carried out on the arrangement matrix to obtain:
secondly, according to the pseudo-inverse matrix and the SVD decomposition arrangement matrix, determining a zero space matrix of the arrangement matrix; and calculating to obtain a zero space vector according to the zero space matrix and the variable. The variable vector is an intermediate variable, and the final output zero-space variable can be obtained by performing mathematical calculation with the zero-space matrix.
Specifically, the following formula is used:
where x is a variable and where,for the pseudo-inverse of the arrangement matrix calculated from the mathematical definition after SVD decomposition, V null Is a zero space matrix, V 0 In order to arrange the matrix and remove the residual matrix of the zero space matrix after SVD decomposition, U is a matrix of SVD decomposition on mathematical definition, and by adjusting the size of x, the thrust input by the increased propeller is ensured not to influence the final ROV system, and the thrust f corresponding to the variable is obtained at the same time i (x) Values.
S4, determining an energy consumption function of the propeller;
and determining the relation between the total power of the propeller and the thrust magnitude, namely the energy consumption function, according to the relation between the power of the propeller and the propeller thrust magnitude T, namely the propeller thrust f.
Propeller power P th The relationship with the propeller thrust magnitude T is shown as follows:
wherein K is T Is a unit thrust coefficient, and the size of the unit thrust coefficient is related to the propeller blade screw ratio and the current ship advance coefficient. K (K) Q Is a torque coefficient, which can be obtained in open water experiments and can be regarded as a constant. ρK represents the fluid density in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the D represents the diameter of the propeller in m.
Except for the propeller thrust magnitude T, the remaining parameters can be regarded as constants. And (3) making:
wherein K is p Referred to as the power coefficient.
Propeller power P th The relationship with the propeller thrust T can be simplified as:
P th ＝KK D |T| 1.5
and determining the relation between the total power of the propeller and the thrust force as follows:
from the above equation, the propeller power P is proportional to the propeller thrust to the power 1.5 of the thrust level T. For convenience, the square of the thrust magnitude T is typically chosen and weights are set as the propeller energy consumption penalty term.
S5, determining an expected variable and a cost function based on a weighted pseudo-inverse algorithm according to an expected target;
the method mainly considers three aspects, namely the energy consumption function of the propeller, the errors before and after distribution and the propeller variation, and determines the cost function of the propeller.
The cost function is:
wherein J is a cost function, Δf represents a propeller change value, f max Represents the maximum value of the output thrust of the propeller, f min Representing the minimum value of the output thrust of the propeller, W τ ∈R 6x6 A weight matrix for representing the control distribution error, and measuring the errors of the control force and the moment before and after distribution; w (W) f ∈R 8x8 Weight matrix representing control propeller input, W Δf ∈R 8x8 Weight matrix representing two thrust changes of a propeller, the propeller models used in ROVs being identical, W f And W is Δf Designed as a unit matrix; gamma, delta are scale factors representing the importance of the secondary target; τ represents the thrust and torque output by the propeller;
W τ ∈R 6×6 the design is as follows:
W τ ＝diag{k 1 ，k 2 ，k 3 ，k 4 ，k 5 ，k 6 }
k i corresponding to the corresponding thrust and moment, taking into account the degree of freedom with larger errorThe weight design is larger.
And determining a minimum cost function value meeting constraint conditions through zero space vector determination, and determining a desired variable. The thrust f in the cost function is obtained in step S3, and different cost function values can be obtained according to the value of the variable vector x in the proper adjustment zero space vector until the smallest cost function value in the constraint condition is obtained, where x is the desired variable.
It should be noted that the cost function is consistent with the intrinsic definition of the cost function, and is J in mathematical definition. Thus, in this application, the cost function is denoted by J, and the cost function is denoted by J.
And S6, updating the output information of the controller, and under the condition that the self constraint is met, updating the expected variable in the cost function to determine the output thrust of the propeller.
With the output of the controllerObtaining the output thrust f of each propeller according to a zero space weighting pseudo-inverse algorithm i (x)：
Wherein X is * For the desired vector τ d The thrust and the moment are output by the controller; v (V) null Is a zero space matrix, V 0 In order to arrange the matrix, remove the residual matrix of the zero space matrix after SVD decomposition, U is the matrix of SVD decomposition defined in the mathematical definition,the pseudo-inverse of the arrangement matrix calculated from the mathematical definition after decomposition for SVD.
The method is experimentally verified as follows in connection with fig. 4-8. The ROV is submerged in the underwater advancing process, the attitude angle is unchanged, the result of the ROV movement process is shown in fig. 4, the result of thrust output is shown in fig. 5, and the power consumption is shown in fig. 6. During the underwater spiral descent, the ROV movement process is shown in fig. 7, the thrust output result is shown in fig. 8, and the power change is shown in fig. 9. As can be seen from the above figures, the ROV has a smaller overall power and lower energy consumption.
Through theoretical analysis and simulation experiments, the output of the propeller can be better optimized, so that the output energy consumption of the propeller system is smaller, the error is smaller, and the robustness is higher.
Based on the same inventive idea, the present application also provides a propeller control system comprising: the arrangement matrix calculation module is used for determining an arrangement matrix of the propeller according to the thrust vector and the moment arm of the propeller;
the pseudo-inverse matrix calculation module is used for carrying out singular value decomposition on the arrangement matrix and determining a pseudo-inverse matrix of the arrangement matrix;
the zero space vector calculation module calculates a zero space matrix of the arrangement matrix according to the pseudo-inverse matrix principle of the pseudo-inverse matrix and calculates a zero space vector according to the zero space matrix and the variable direction;
the energy consumption function calculation module is used for determining an energy consumption function of the propeller;
the cost function calculation module is used for determining a cost function and an expected variable of the propeller according to the expected target;
and the output thrust calculation module is used for updating the output information of the controller, updating the expected variable in the cost function under the condition that the constraint condition is met, and determining the output thrust of the propeller.
The processing method of the system may refer to the description of the above method, and will not be described herein.
Based on the same inventive idea, there is also provided a propeller comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform a weighted pseudo-inverse thrust distribution method for a propeller as described above.
Based on the same inventive idea, there is also provided a propeller control apparatus, which may include:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform a weighted pseudo-inverse thrust distribution method for a propeller as described above.
Embodiments of the present application also provide a non-transitory machine-readable storage medium having stored thereon an executable program, which when executed by a processor, causes the processor to perform the processing method as provided in the above embodiments.
The embodiment of the invention discloses a computer readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute a weighted pseudo-inverse thrust distribution method of a propeller.
Embodiments of the present invention disclose a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform a weighted pseudo-inverse thrust distribution method of a propeller as described.
The embodiments described above are illustrative only, and the modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the embodiment of the invention discloses a weighted pseudo-inverse thrust distribution method, a system and a device of a propeller, which are disclosed by the embodiment of the invention only as the preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. The weighted pseudo-inverse thrust distribution method of the propeller is characterized by comprising the following steps of:
determining an arrangement matrix of the propeller according to the thrust vector and the arm of force of the propeller;
singular value decomposition is carried out on the arrangement matrix, and a pseudo-inverse matrix of the arrangement matrix is determined;
according to the pseudo-inverse matrix principle of the pseudo-inverse matrix, calculating a zero space matrix of an arrangement matrix, and according to the zero space matrix and the variable quantity, calculating a zero space vector;
determining an energy consumption function of the propeller;
determining a desired variable and a cost function based on a weighted pseudo-inverse allocation algorithm according to a desired target;
and updating the output information of the controller, and under the condition that the constraint condition is met, updating the expected variable in the cost function, and determining the output thrust of the propeller.
2. The method for distributing weighted pseudo-inverse thrust of a propeller according to claim 1, wherein the determining an arrangement matrix of the propeller according to a thrust vector and a moment arm of the propeller specifically comprises:
calculating the thrust and moment generated in the direction of the six degrees of freedom of the ROV according to the thrust vector and the moment arm of the propeller;
the thrust force and moment generated by each propeller are superimposed to determine the arrangement matrix of the propellers.
3. The method for distributing weighted pseudo-inverse thrust of a propeller according to claim 2, wherein the singular value decomposition is performed on the arrangement matrix to determine a pseudo-inverse matrix of the arrangement matrix, specifically:
determining a cost function according to the output thrust and torque, defining a Lagrangian function, and performing bias guide on the thrust through the Lagrangian function;
and when the thrust structure is not singular, expressing the thrust through Lagrangian multiplier vectors, and determining a pseudo-inverse matrix of the arrangement matrix.
4. A weighted pseudo-inverse thrust distribution method of a propeller according to claim 3, characterized in that calculating a zero-space matrix of an arrangement matrix according to the pseudo-inverse matrix principle of the pseudo-inverse matrix comprises:
and carrying out SVD decomposition on the arrangement matrix, and determining a zero space matrix of the arrangement matrix according to the pseudo-inverse matrix and the arrangement matrix after SVD decomposition.
5. A method of weighted pseudo-inverse thrust distribution for a propeller according to any of claims 1-4, wherein the energy consumption function of the propeller is determined as:
and determining the relation between the total power of the propeller and the thrust according to the relation between the power of the propeller and the thrust of the propeller.
6. The method of claim 5, wherein determining the desired variable and the cost function based on the weighted pseudo-inverse distribution algorithm based on the desired target comprises:
determining a cost function of the propeller according to the energy consumption function of the propeller, the errors before and after distribution and the propeller variation;
and determining a minimum cost function value meeting constraint conditions through zero space vector determination, and determining a desired variable.
7. The method of claim 6, wherein the cost function is:
min J＝f T W f f+γ(τ-τ d ) T W τ (τ-τ d )+δΔf T W Δf Δf
wherein J is a cost function, Δf represents a propeller change value, f max Represents the maximum value of the output thrust of the propeller, f min Representing the minimum value of the output thrust of the propeller, W τ ∈R 6×6 A weight matrix for representing the control distribution error, and measuring the errors of the control force and the moment before and after distribution; w (W) f ∈R 8×8 Weight matrix representing control propeller input, W Δf ∈R 8×8 Weight matrix representing two thrust changes of propeller, W f And W is Δf Designed as a unit matrix; gamma, delta is the scale factorRepresenting the importance of the secondary objective; τ represents the thrust and torque output by the propeller; τ d The thrust and the moment are output by the controller;
W τ ∈R 6×6 the method comprises the following steps:
W τ ＝diag{k 1 ，k 2 ，k 3 ，k 4 ，k 5 ，k 6 }
k i coefficient weights corresponding to the respective thrust and moment.
8. A method of weighted pseudo-inverse thrust distribution for a propeller according to claim 3, wherein the propeller's output thrust f i (x)：
Wherein x is ＊ For the desired vector τ d The thrust and the moment are output by the controller; v (V) null Is a zero space matrix, V 0 In order to arrange the matrix, remove the residual matrix of the zero space matrix after SVD decomposition, U is the matrix of SVD decomposition defined in the mathematical definition,is a pseudo-inverse matrix of the arrangement matrix calculated according to mathematical definition after SVD decomposition.
9. A propeller control system, comprising:
the arrangement matrix calculation module is used for determining an arrangement matrix of the propeller according to the thrust vector and the moment arm of the propeller;
the pseudo-inverse matrix calculation module is used for carrying out singular value decomposition on the arrangement matrix and determining a pseudo-inverse matrix of the arrangement matrix;
the zero space matrix calculation module calculates a zero space matrix of the arrangement matrix according to the pseudo-inverse matrix principle of the pseudo-inverse matrix; calculating a zero space vector according to the zero space matrix and the variable quantity;
the energy consumption function calculation module is used for determining an energy consumption function of the propeller;
the cost function calculation module is used for determining a cost function and an expected variable of the propeller according to the expected target;
and the output thrust calculation module is used for updating the output information of the controller, updating the expected variable in the cost function under the condition that the constraint condition is met, and determining the output thrust of the propeller.
10. A propeller control apparatus, characterized in that the propeller control apparatus comprises:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform a weighted pseudo-inverse thrust distribution method of a propeller as claimed in any one of claims 1-8.
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