无人艇直线路径跟踪控制的研究与实现

发布时间：2018-04-22 10:15

本文选题：无人水面艇 + 直线路径跟踪　；参考：《大连海事大学》2017年硕士论文

【摘要】：水面无人艇以其广泛的应用前景成为国内外各国智能化海洋装备的发展重点。作为海洋探索测绘、海洋环境监测、维护国家海上利益的重要手段,无人艇的研究日益成为各国学者研究的重点和热点。无人艇航行时海面环境复杂多变,如何保证无人艇在安全航行的前提下精准快速跟踪所设定航迹路线成为了完成无人艇战略战术目标的基础。这就使得快速跟踪路径成为了无人艇航迹研究的重要内容之一。本文为了实现水面无人艇快速精准的路径跟踪,在研究和参考了大量国内外学者著作的基础上,以大连海事大学"蓝信"号水面无人艇作为研究对象。针对直线路径跟踪控制问题,分别进行了间接路径跟踪控制器和直接路径跟踪控制器的设计和仿真验证,并且设计了串级模糊PID直线路径跟踪实船实验。主要内容分为以下几部分:首先,对依据船舶数学模型建立的相关知识对"蓝信"号无人艇分别进行了线性数学模型和非线性数学模型的建立,并且根据无人艇操纵实验的数据进行了模型参数的辨识。为后文设计直线路径跟踪控制器、直线路径跟踪控制的研究和仿真平台的建立提供了研究对象的数学模型。在进行间接路径跟踪控制方法的研究中,利用模糊PID控制算法的原理,分别设计了模糊PID航向控制器和模糊PIID航迹控制器。设计了双环串级直线路径跟踪控制仿真系统,仿真结果表明所设计的控制系统具有良好的自适应能力,能够实现快速精准的直线路径跟踪的控制目标。在进行直接路径跟踪控制方法的研究中,结合反步法和滑模控制原理。针对包含二阶舵机的无人艇模型设计了反步滑模直线路径跟踪控制器,仿真结果表明了该控制器的直线航迹跟踪控制精度较高,响应较快,可为"蓝信"号无人水面艇直线路径跟踪控制的研究提供参考。最后,将基于模糊自适应PID原理设计的直线路径跟踪控制器应用到"蓝信"号水面无人艇航迹控制实验中。海上实船实验结果表明所设计的模糊PID直线路径跟踪控制器在实际海洋环境下的有效性和自适应能力。控制精度满足快速跟踪直线路径的控制目标。
[Abstract]:Surface unmanned craft (UAV) has become the development focus of intelligent marine equipment at home and abroad with its wide application prospect. As an important means of marine surveying and mapping, marine environment monitoring and protecting the national marine interests, the research of unmanned craft has increasingly become the focus and hot spot of scholars in various countries. The sea surface environment is complex and changeable while unmanned craft is sailing. How to ensure the unmanned craft to track the track accurately and quickly under the premise of safe navigation has become the foundation of accomplishing the strategic and tactical target of unmanned craft. This makes the fast track tracking become one of the important contents of the track research of unmanned craft. In order to realize the fast and accurate track tracking of the surface unmanned craft, based on the research and reference of a large number of scholars at home and abroad, this paper takes the "Lanxin" surface unmanned craft of Dalian Maritime University as the research object. The design and simulation of the indirect path tracking controller and the direct path tracking controller are carried out for the linear path tracking control problem, and the experiments of cascade fuzzy PID linear path tracking ship are designed. The main contents are as follows: firstly, the linear mathematical model and nonlinear mathematical model of Lanxin unmanned vessel are established according to the relevant knowledge of ship mathematical model. And the model parameters are identified according to the data of unmanned craft control experiment. The mathematical model of the research object is provided for the design of the linear path tracking controller, the research of the linear path tracking control and the establishment of the simulation platform. In the research of indirect path tracking control method, fuzzy PID course controller and fuzzy PIID track controller are designed by using the principle of fuzzy PID control algorithm. A double-loop cascade linear path tracking control simulation system is designed. The simulation results show that the designed control system has a good adaptive ability and can achieve the control goal of fast and accurate linear path tracking. In the research of direct path tracking control, the backstepping method and sliding mode control principle are combined. A backstepping sliding-mode linear path tracking controller is designed for the unmanned ship model with second-order steering gear. The simulation results show that the linear track tracking control of the controller has higher accuracy and faster response. It can provide a reference for the research of the linear path tracking control of the unmanned surface craft Lanxin. Finally, the linear path tracking controller based on fuzzy adaptive PID principle is applied to the track control experiment of Lanxin surface unmanned craft. The experimental results show that the fuzzy PID linear path tracking controller is effective and adaptive in the actual marine environment. The control precision meets the control goal of fast tracking straight line path.
【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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