波浪干扰下固定双桨无人水面艇的路径跟踪方法

发布时间：2019-04-12 16:01

【摘要】：无人水面艇在路径跟踪过程中容易受到波浪环境的干扰,针对该问题提出一种基于可变船长比的直线路径跟踪方法。建立了固定双桨无人水面艇在二阶波浪力下的运动模型,根据视距导航原理,设计了跟踪期望航向角的PD控制器,通过融合路径方向、距离偏差及船长比等信息,实时调整左右两侧推进电机的控制电压,实现无人水面艇直线路径跟踪。针对不同船长比对直线路径跟踪的影响,在PD控制器中增加了以跟踪过程中的距离偏差和距离偏差变化率为输入、以船长比为输出的模糊推理模块,对船长比进行实时在线调整,提高了系统的抗波浪干扰性能。仿真结果表明,较之固定船长比的路径跟踪方法,所提方法使跟踪过程具有更好的动态性能,并且可减小波浪干扰下的路径跟踪偏差,有效克服波浪的干扰作用。
[Abstract]:Unmanned surface craft is easy to be disturbed by wave environment in the course of path tracking. In order to solve this problem, a linear path tracking method based on variable captain ratio is proposed. The motion model of the fixed twin-propeller unmanned surface boat under second-order wave force is established. According to the principle of visual distance navigation, a PD controller is designed to track the desired course angle. By combining the information of path direction, distance deviation and captain's ratio, etc. The linear path tracking of unmanned surface craft is realized by real-time adjusting the control voltage of the propulsion motor on both sides of the left and right sides. In view of the influence of different captain ratio on linear path tracking, a fuzzy inference module is added to the PD controller, which takes the distance deviation and range deviation rate as input and the captain ratio as output. The real-time on-line adjustment of ship captain ratio improves the anti-wave performance of the system. The simulation results show that compared with the path tracking method with fixed captain-to-captain ratio, the proposed method has better dynamic performance, and can reduce the path tracking deviation under wave interference, and effectively overcome the wave interference.
【作者单位】：上海海事大学航运技术与控制工程交通行业重点实验室;上海海事大学海洋科学与工程学院;
【基金】：国家自然科学基金资助项目(51309148) 上海市教委科研创新项目(14YZ104) 上海海事大学研究生学术新人培育计划项目(YXR2015024)
【分类号】：U664.82;TP273

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