Unmanned surface vehicle trajectory tracking control device and method based on nonlinear control theory

A non-linear control and trajectory tracking technology, applied in two-dimensional position/channel control and other directions, can solve the problems of high cost of propulsion and large energy consumption of the system, reduce energy consumption and manufacturing cost, ensure reliable operation, improve The effect of boosting efficiency

Active Publication Date: 2014-07-30
精海智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For surface unmanned vehicles, the cost of the propeller is very high and the energy consumption of the system is large, so most of the current unmanned surface v...

Method used

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  • Unmanned surface vehicle trajectory tracking control device and method based on nonlinear control theory
  • Unmanned surface vehicle trajectory tracking control device and method based on nonlinear control theory
  • Unmanned surface vehicle trajectory tracking control device and method based on nonlinear control theory

Examples

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Embodiment 1

[0028] see figure 1 , the unmanned ship trajectory tracking control device based on nonlinear control theory, including reference path generator (1), state sensor (2), differential converter (5), parameter estimator (8), virtual controller (9 ), longitudinal thrust and bow turning moment controller (12), characterized in that: the output of the reference path generator (1) and the state sensor (2) is sequentially transformed by differential transformation (5), virtual controller (9), The parameter estimator (8) and the longitudinal thrust and sensor (12) are connected to the output port; the output of the longitudinal thrust and bow moment controller (12) is also connected to the state sensor (2), and the output of the state sensor (2) is also Connected to the virtual controller (9); the actual position and heading angle of the UAV collected by the state sensor (2) and the reference position and reference heading angle information generated by the reference path generator (1) ...

Embodiment 2

[0030] This embodiment is basically the same as Embodiment 1, and the special features are as follows: the virtual controller (9) includes a longitudinal velocity virtual controller (10) and a bow angular velocity controller (11); the reference path generator (1 ) By giving the desired longitudinal velocity and yaw rate, the generated position and heading angle information are transmitted to the differential converter (5), and at the same time, the expected lateral velocity signal is fed back to the parameter estimator (8) and the virtual control of the yaw rate device (11).

[0031] The state sensor (2) includes a position and angle sensor (3) and a linear velocity and angular velocity sensor (4); the output of the position and angle sensor (3) is connected to a differential converter (5) and the collected information is transmitted to Differential converter (5), the output of the linear velocity and angular velocity sensor (4) is connected to the longitudinal thrust and bow ...

Embodiment 3

[0037] The unmanned boat trajectory tracking control method based on nonlinear control theory adopts the unmanned boat trajectory tracking control device based on nonlinear control theory to operate, and it is characterized in that the operation steps are as follows:

[0038] a. The reference path generator (1) generates the desired trajectory through the reference input, and obtains the desired position, heading angle and speed information;

[0039] b. The position angle sensor (3) collects the position and course angle information of the unmanned boat, and transmits the expected position, course angle and current state information to the differential converter (5);

[0040] c. The differential converter (5) includes a geodetic coordinate to hull coordinate converter (6) and an underactuated term compensator (7). The geodetic coordinate to hull coordinate converter (6) obtains the state variables in the hull coordinate system, and converts the intermediate The variable inf...

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Abstract

The invention provides an under-actuated unmanned surface vehicle self-adaptive trajectory tracking control device and method. The device comprises a reference path generator, a state sensor, a differential converter, a parameter estimator, a virtual controller and a longitudinal thrust and bow steering torque controller. According to the unmanned surface vehicle actual position and course angle collected by the state sensor (2) and the reference position and reference course angle information generated by the reference path generator (1), the new state variable is obtained through the differential converter (5), the new state variable and the speed and angle speed information collected by a sensor (4) are transmitted to the parameter estimator (8) and the longitudinal thrust and bow steering torque controller (12), a control instruction is obtained through calculation to drive an execution mechanism, and the longitudinal thrust and bow steering torque of an unmanned surface vehicle are adjusted. According to the device and method, the unmanned surface vehicle can reach the specific position within specific time at specific speed. Due to the under-actuated unmanned surface vehicle, energy consumption and manufacturing cost of a system can be lowered, and the weight of the system is reduced.

Description

technical field [0001] The invention relates to an unmanned boat trajectory tracking control device and method. Specifically, it is an unmanned ship trajectory tracking control device and method based on nonlinear control theory. Background technique [0002] The surface unmanned vehicle is a small surface platform with independent planning and autonomous navigation capabilities, and can independently complete tasks such as environmental perception and target detection. Reconnaissance, anti-terrorism, relay communication and other functions. According to different missions, unmanned boats can use a variety of different modules, carry different sensors or execution equipment, and perform tasks that also show diversity. [0003] During the voyage of the unmanned boat, the change of the speed will cause the parameters of the hull motion model to change, resulting in uncertainty. The effects of wind, current, and waves will produce corresponding disturbance forces and moments...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 罗均王德超彭艳谢少荣李恒宇
Owner 精海智能装备有限公司
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