基于滑模自抗扰的无人水面艇路径跟踪控制研究

发布时间：2018-01-08 17:20

本文关键词：基于滑模自抗扰的无人水面艇路径跟踪控制研究　出处：《大连海事大学》2017年硕士论文　论文类型：学位论文

【摘要】：无人水面艇,简称无人艇(USV),作为新时期综合了各种高新技术的产物,在海洋勘探、军事侦查等领域发挥了重要作用。在无人艇控制领域,实现无人艇的路径跟踪控制,是各国研究的一个重点方向。无人艇是一种典型的欠驱动系统,存在不确定性、输入饱和、横向飘摇等特性,这给无人艇的控制带来了困难。为解决上述问题,本文基于滑模变结构自抗扰控制技术对无人艇的曲线路径跟踪控制进行了研究,主要研究内容如下:首先、针对"蓝信"号无人水面艇的特性,利用整体建模的思想,在线性模型的基础上,加入非线性项,建立了考虑舵机特性的无人艇三自由度非线性数学响应型模型(Norrbin模型),并建立了干扰模型。其次、采用自抗扰控制算法,对其中的扩张状态观测器(ESO)和状态误差反馈控制律(NLSEF)部分进行线性化设计,推导了简化的自抗扰控制器。利用滑模变结构的思想,对其中的误差反馈部分进行变结构设计,同时考虑控制输入饱和的因素,设计了考虑输入饱和的线性滑模自抗扰控制器。以"蓝信"号无人艇为控制对象,考虑风、浪干扰,通过设计的航向控制仿真实验,验证了该控制器的稳定性和适应性。最后、采用设计的线性滑模自抗扰控制器,在有外部风、浪、流干扰的环境下,针对"蓝信"号无人水面艇操纵运动模型,设计了两种曲线路径跟踪控制器,并进行了仿真实验;实验结果验证了所设计的控制器在对无人艇曲线路径跟踪控制中的有效性,解决了系统控制过程中的不确定性、输入饱和、横向飘摇等问题,可以为"蓝信"号无人水面艇的曲线路径跟踪控制提供参考。
[Abstract]:Unmanned surface craft (USV), as a product of new high and new technology, plays an important role in the field of ocean exploration, military reconnaissance and so on, and plays an important role in the field of control of unmanned craft. Path tracking control of unmanned craft is a key research direction in many countries. Unmanned craft is a typical underactuated system with uncertainty, input saturation, lateral drift and so on. This brings difficulties to the control of unmanned craft. In order to solve the above problems, this paper studies the curve path tracking control of unmanned craft based on sliding mode variable structure active disturbance rejection control technology. The main research contents are as follows: first of all. According to the characteristics of Lanxin unmanned surface craft, the nonlinear term is added on the basis of linear model by using the idea of global modeling. A three-degree-of-freedom nonlinear mathematical response model and a disturbance model are established. Secondly, the active disturbance rejection control algorithm is adopted. The extended state observer (ESO) and the state error feedback control law (NLSEF) are linearized and the simplified active disturbance rejection controller is derived. The idea of sliding mode variable structure is used. The error feedback part is designed with variable structure and the input saturation is taken into account. A linear sliding mode active disturbance rejection controller with input saturation is designed. The blue letter unmanned craft is taken as the control object. Considering the disturbance of wind and wave, the stability and adaptability of the controller are verified by the simulation experiment of course control. Finally, the linear sliding mode ADRC is used to control the wind and wave. Under the environment of current disturbance, two curve path tracking controllers are designed for the maneuvering motion model of Lanxin unmanned surface craft, and the simulation experiments are carried out. The experimental results verify the effectiveness of the designed controller in the trajectory tracking control of unmanned craft curve, and solve the problems of uncertainty, input saturation and lateral drift in the control process of the system. It can provide reference for the curve path tracking control of Lanxin unmanned surface craft.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U664.82;TP273

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