双体双推进无人船路径跟踪控制研究

发布时间：2018-06-19 00:10

本文选题：无人船 + LQR　；参考：《青岛大学》2015年硕士论文

【摘要】：无人船是一种新型的海洋观测平台,它可以在人工操控或自动控制状态下完成观测任务。无人船可以广泛应用于环境监测、海洋测绘等方面的工作,由于无人船具备无人、自主等优势,其已经成为当今各国海洋军事和研究单位研发的热点对象。无人船相关技术的研究还处于起步阶段,这迫切的需要我们展开相关方面的研究探索,而路径跟踪控制正是无人船技术的关键。本文以国家海洋局第一海洋研究所海洋物理与遥感研究室研发的双体双推进无人船作为研究对象,主要的研究工作是设计该无人船的路径跟踪控制器。本文首先介绍了双体双推进无人船系统,为获得无人船的阻力参数,提出一种基于FLUENT软件的无人船阻力数值模拟方法。使用标准k-ε湍流模型和VOF方法,分别对无人船浮体及其附属物进行周围粘性流场的数值模拟,计算了无人船阻力,与湖试试验值进行了比较。研究结果证明了该方法用于无人船阻力计算的适用性。另外,仿真数据也可作为无人船系统辨识的数据来源。然后,将船舶的六自由度模型简化为常见的只考虑纵荡、横荡和首摇的三自由度模型,建立了欠驱动无人船水平面三自由度数学模型。根据实验数据对无人船模型进行系统辨识,得到数学模型中的参数,并对建立的无人船模型进行了开环仿真,验证了该模型的正确性。基于无人船模型和LQR控制算法,引入航向差和距离差两个状态量,设计了航向跟踪、位点跟踪、路径跟踪LQR控制器,并分别进行了仿真验证。针对直线路径跟踪对比了LQR控制器和PID控制器的跟踪效果,结果表明,本文设计的路径跟踪LQR控制器比PID控制器收敛速度更快,跟踪效果更好。最后,对本文设计的LQR控制器进行了试验,实现了无人船的航向跟踪、位点跟踪和路径跟踪自动控制,同时还完成了对圆形路径的跟踪。试验结果表明,LQR控制器跟踪效果好,鲁棒性强,满足工程应用的要求。
[Abstract]:Unmanned vessel (UAV) is a new ocean observation platform, which can perform observation tasks under manual or automatic control. Unmanned vessels can be widely used in environmental monitoring, marine mapping and other aspects of work. Because unmanned vessels have the advantages of unmanned, autonomous and other advantages, it has become the research and development of marine military and research units in various countries. The research of unmanned ship related technology is still in its infancy, which urgently needs us to carry out the related research and exploration, and the path tracking control is the key of unmanned ship technology. In this paper, the two-body dual-propulsion unmanned vessel developed by Ocean Physics and remote Sensing Research Institute of the first Ocean Research Institute of the State Oceanic Administration is taken as the research object. The main research work is to design the path tracking controller of the unmanned ship. In this paper, we first introduce the catamaran dual propulsion unmanned ship system. In order to obtain the drag parameters of unmanned ship, a numerical simulation method of unmanned ship resistance based on fluent software is proposed. By using the standard k- 蔚 turbulence model and the VOF method, the viscous flow field around the floating body and its appendages of a unmanned ship is numerically simulated, and the resistance of the unmanned ship is calculated and compared with the lake test results. The results show that the method is applicable to the calculation of unmanned ship resistance. In addition, the simulation data can also be used as the data source of unmanned ship system identification. Then, the six degree of freedom model of ship is simplified as a three degree of freedom model with only longitudinal, rolling and first rolling considered, and a mathematical model of three degrees of freedom in horizontal plane of underactuated unmanned ship is established. According to the experimental data, the model of unmanned ship is identified, and the parameters of the mathematical model are obtained, and the open loop simulation of the model is carried out to verify the correctness of the model. Based on unmanned ship model and LQR control algorithm, the course tracking, locus tracking and path tracking LQR controllers are designed and verified by simulation. The tracking effects of LQR controller and pid controller are compared for linear path tracking. The results show that the designed LQR controller converges faster and has better tracking effect than pid controller. Finally, the LQR controller designed in this paper is tested, and the course tracking, locus tracking and path tracking automatic control of unmanned ship are realized, and the circular path tracking is also completed. The experimental results show that the tracking effect of LQR controller is good, the robustness is strong, and it can meet the requirements of engineering application.
【学位授予单位】：青岛大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U675.7

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