无人水面艇航向跟踪控制器的设计与验证

发布时间：2018-03-19 15:33

本文选题：无人水面艇(USV)　切入点：航向跟踪　出处：《大连海事大学学报》2017年01期 　论文类型：期刊论文

【摘要】：为解决"蓝信"号无人水面艇的航向跟踪控制问题,设计并实现了一种基于模糊自适应PID的无人水面艇航向跟踪控制器.首先,建立"蓝信"号无人水面艇的数学模型,利用实船操纵数据对其参数进行辨识;其次,在辨识的USV模型基础上,设计一种模糊自适应PID航向跟踪控制器并在干扰环境下进行仿真;最后,采用卡尔曼滤波算法对USV的姿态数据进行融合,设计并实现了"蓝信"号无人水面艇嵌入式航向跟踪控制系统的软硬件.实船验证结果表明,在实际的海洋环境干扰条件下,该航向跟踪控制器具有良好的动静态控制性能和抗干扰能力,可用于"蓝信"号无人水面艇精确和快速的航向跟踪控制.
[Abstract]:In order to solve the course tracking control problem of Lanxin unmanned surface craft, a course tracking controller based on fuzzy adaptive PID is designed and implemented. Secondly, based on the identified USV model, a fuzzy adaptive PID course tracking controller is designed and simulated in the jamming environment. The attitude data of USV is fused with Kalman filter algorithm, and the software and hardware of the embedded course tracking control system for the unmanned surface craft of Blue letter are designed and implemented. The actual ship verification results show that under the actual marine environment interference, the software and hardware of the embedded course tracking control system are designed and implemented. The course tracking controller has good dynamic and static control performance and anti-jamming ability. It can be used in the accurate and fast course tracking control of the unmanned surface craft of Lanxin.
【作者单位】：大连海事大学信息科学技术学院;
【基金】：国家自然科学基金资助项目(61374114) 辽宁省自然科学基金资助项目(2015020022) 中央高校基本科研业务费专项基金资助项目(3132016311;3132016312;3132016022)
【分类号】：U664.82;TP273

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