具有横摇约束的欠驱动水面艇航迹跟踪控制研究

发布时间：2018-01-12 22:19

本文关键词：具有横摇约束的欠驱动水面艇航迹跟踪控制研究　出处：《江苏大学》2016年硕士论文　论文类型：学位论文

【摘要】：水面艇作为速度快、灵活机动的小型智能水面运动平台,在执行侦察、排雷、搜救、水文勘察等军事和民用任务时都有不可替代的作用。水面艇通常仅依靠螺旋桨的推进力和舵的转向力矩控制水平面横向、纵向位置和艏摇3个自由度运动,具有欠驱动性。在受到风、浪、流的干扰时,水面艇往往会偏离预定安全航迹,同时有较大幅度的横摇,影响乘员舒适性、损坏货物,甚至发生倾覆。因此,提高水面艇操纵性以克服横摇并实现航迹跟踪控制,是近年来船舶控制领域研究的热点问题之一。本文采用有限时间控制研究三自由度欠驱动水面艇航迹跟踪控制问题;为了避免水面艇剧烈横摇带来的危险,采用耦合横摇的四自由度航迹跟踪模型,基于预测控制算法,将横摇角作为状态约束,设计预测控制器控制航向;同时,采用Sage-Husa自适应卡尔曼滤波技术消除噪声的影响,设计干扰观测器消除干扰的影响,实现航迹跟踪的目的,并起到抗横摇作用。首先,基于水面艇三自由度航迹跟踪误差模型,设计Backstepping非线性控制律,使水面艇能快速跟踪到期望航迹,保证闭环系统的稳定性。在此基础上,进一步考虑水面艇受外界风、浪、流干扰的影响,利用有限时间控制快速收敛性和强抗干扰能力的特点,设计Backstepping和有限时间控制综合控制律,提高了水面艇航迹跟踪系统的鲁棒性,从理论上证明控制系统有限时间收敛性能和抗干扰能力,通过仿真验证了算法的有效性。然后,针对水面艇受风、浪、流的影响产生横摇,基于耦合横摇的四自由度线性模型,将横摇角作为预测控制的状态约束,滚动优化舵偏角实现欠驱动水面艇的航迹跟踪。通过仿真调整不同的预测步长和不同的矩阵,实时对状态预测校正,验证了预测控制器能有效减少横摇角,使得系统各状态量收敛到平衡点达到稳定状态,最终保证水面艇能按预定轨迹安全航行。最后,针对水面艇航迹跟踪系统的测量值为航向角,其余状态量不能直接测量,考虑到系统噪声和测量噪声的影响,应用Sage-Husa自适应卡尔曼滤波技术对状态量进行最优估计;针对风、浪、流干扰的影响,设计干扰观测器,实时估计外界干扰,结合预测控制对系统进行干扰补偿,综合分析带有噪声、干扰和横摇约束的水面艇航迹跟踪预测控制,并通过航模实验验证了算法的有效性。
[Abstract]:The boat as fast, flexible and intelligent small surface motion platform maneuvering, in reconnaissance, mine rescue, military and civilian hydrographic survey tasks have irreplaceable role. Usually only rely on surface ships steering torque control water plane transverse propeller propulsion and rudder, longitudinal position and yaw in 3 degrees of freedom of movement, is underactuated. Under wind, wave, flow disturbance, water craft often deviates from a predetermined safety track, and roll greatly, affect occupant comfort, damage to the goods, or even overturn. Because of this, improve the surface vessel maneuverability to overcome rolling and realize trajectory tracking control, ship control is one of the hot issues in the field of research in recent years. This paper adopts the finite time control study of three DOF underactuated surface ship trajectory tracking control problem; in order to avoid severe roll surface vessel danger, The four degree of freedom trajectory coupling rolling tracking model predictive control algorithm based on the roll angle as the state constraint, the predictive controller is designed to control the course; at the same time, using Sage-Husa adaptive Calman filtering to eliminate the influence of noise, disturbance observer is designed to eliminate the interference effect, achieve tracking purposes, and has anti roll effect of surface vessel. First, three degree of freedom trajectory tracking error model based on the design of Backstepping nonlinear control law, the surface vessel can track the desired trajectory, ensure the stability of the closed-loop system. On this basis, further consideration of surface vessel under external wind, wave, flow disturbance, the finite time control fast convergence and strong anti-interference ability, Backstepping design and finite time control integrated control law, to improve the robustness of surface ship trajectory tracking system, from the theory of Shanghai The control system of finite time convergence performance and anti-jamming capability, the simulation verifies the effectiveness of the algorithm. Then, according to the surface the boat by the wind, wave, flow impact rolling, linear model of four degrees of freedom coupling rolling based on the roll angle as a predictive state constraint control, rolling optimization rudder angle track drive realize under surface ship tracking. Through the simulation adjustment prediction step, different matrix, real-time state prediction correction, validate the predictive controller can effectively reduce the roll angle, which makes the state system converge to the equilibrium point reaches a steady state, the ultimate guarantee of water craft according to the predetermined trajectory safety. Finally, for the measurement of surface ship trajectory tracking system of value to the heading, the rest of the state of quantity can not be measured directly, taking into account the influence of system noise and measurement noise, the application of Sage-Husa adaptive Calman filtering The optimal estimation of the state; for the wind, wave, flow disturbance, disturbance observer design, real-time estimation of interference, combined with predictive control of disturbance compensation system, a comprehensive analysis with noise, surface vessel track jamming and roll constraint tracking control, and the effectiveness of the algorithm is verified by model experiment.

【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U664.82

【相似文献】