Unmanned ship heading and speed cooperative control method based on fuzzy adaptive algorithm

Abstract

The invention discloses an unmanned ship heading and speed cooperative control method based on a fuzzy adaptive algorithm. In order to solve the problems that in a conventional control method, a motion model is hard to accurately determine, the dynamic response is not ideal, and the anti-jamming capability is low, the fuzzy control algorithm is adopted for improving the fitness of a USV control method under undetermined water conditions, and the ship motion modeling problem in the conventional method is solved. The two-input and two-output improved USV fuzzy control algorithm is put forwards, a range ambiguity domain function is added to serve as the algorithm input, the heading and the speed are brought into the autonomous control range to conduct cooperative control, the convergence rate of USV motion control is increased, and the control robustness is improved; the course angle deviation ratio is adopted as the measurement of the operation environment uncertainty and the running state deviation degree, interval parameters are adjusted and controlled automatically, the control algorithm can adjust control parameters in a self-adaptive mode according to the control environment change, , and the intelligence of an autonomous control system is further improved.

Description

technical field [0001] The invention belongs to the technical field of ship autonomous motion control, and specifically refers to a cooperative control method of course and speed of an unmanned boat based on a fuzzy self-adaptive algorithm. Background technique [0002] Autonomous motion control is one of the core technologies that distinguish an unmanned surface vehicle (USV) from manned ships. In the autonomous motion control problem, a practical and effective heading and speed control algorithm is the key for the USV platform to complete complex navigation tasks in various uncertain water surface environments. [0003] The current USV heading and speed control methods mainly include: (1) Taking heading maintenance as an automatic control target, so that the ship can automatically follow a given heading, but the given heading is not within the scope of autonomous control. The corresponding control algorithms mainly include: conventional control algorithms such as PID cont...

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Problems solved by technology

[0004] The above control methods have the following problems: (1) In terms of control algorithms, in conventional control algorithms based on precise mathematical models, it is difficult to accurately determine the hull motion model, and in uncertain and strongly nonlinear water surface environments, linear time-invariant The motion model parameters are difficult to describe the change of the hull motion state in real time and accurately; in the adaptive control algorithm, it is difficult to determine the adaptive function and the precise disturbance model; in the fuzzy control algorithm, the algorithm structure, the fuzzy domain of the input and output variables, the fuzzy The determination of the rules requires rich engineering practice experience

(2) In terms of control strategy, the degree of cooperative control of heading and speed is relatively weak. The contribution of heading to motion control results is mainly considered, and only heading is included in the scope of autonomous control algorithms, while less consideration is given to the rapidity and robustness of speed of motion control. and the influence of autonomy

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