A Path Tracking Planning Method for Underactuated Ships Based on Dynamic Virtual Small Ship Guidance Algorithm

Abstract

The invention discloses an under-actuated ship path tracking planning method based on a dynamic virtual ship guidance algorithm. The method includes the following steps that 1, a guide virtual ship mathematic model is established, a ship tracking control reference path is planned out through the guidance algorithm according to the guide virtual ship mathematic model, and an instruction time series signal of the generated reference path of a guidance virtual ship is obtained; 2, the path tracking control state starts; 3, the ship position and movement posture of a dynamic virtual ship are configured dynamically according to the relative position of an actual ship and the guidance virtual ship; 4, control laws, namely the rotational speed nc of a main engine and the helm angle instruction signal delta c of the actual ship are designed according to a robust self-adaptation control strategy, a main engine and steering engine implementation device of the actual ship is controlled, the actual ship is driven and controlled to track the dynamic virtual ship, and the path tracking control task of the ship in navigation practice is finally fulfilled; 5, whether the ship reaches a destination or not is judged by measuring the position of the actual ship, if the ship reaches the destination, ship navigation is ended, and if the ship does not reach the destination, the time t is updated to be t plus one, and the step 2 is carried out.

Description

technical field [0001] The invention relates to the fields of ship control engineering and ship automation navigation, in particular to an underactuated ship path tracking planning method based on a dynamic virtual small ship guidance algorithm. Background technique [0002] The existing guidance algorithm is introduced from the research field of missile shooting guidance to the field of ship navigation, which is what we usually call the Line of sight (LOS) algorithm. It solves the problem of using track deviation and course deviation to calculate ship guidance in indirect track keeping control. It is also an algorithm widely used in ship-borne autopilots. Below we briefly explain and illustrate the guidance algorithm. [0003] Variable LOS radius and waypoint switching boundary ring are two important concepts or variables in LOS algorithm. The purpose of the LOS algorithm is to deduce the heading reference command required to complete the control task in track keeping cont...

AI Technical Summary

Problems solved by technology

[0013] 1. The LOS algorithm only solves the problem of track-keeping control in the straight line segment. Automatic steering is used near the waypoint position, and effective track-keeping control is not performed.

[0014] 2. The LOS algorithm cannot be directly applied to the existing path tracking control research results to solve the ship track keeping control problem in navigation practice (including straight lines and smooth curves)

Although the research on the path tracking control of underactuated ships solves the tracking of the virtual boat's trajectory by the ship based on certain assumptions, the path planning problem between the virtual boat and the reference path has not been effectively solved.

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