Under-actuated water surface ship control method satisfying preset tracking performance

A technology that satisfies preset and control methods, applied in two-dimensional position/channel control and other directions, and can solve problems such as tracking control of reference trajectory that cannot be arbitrarily smooth

Active Publication Date: 2017-08-04
SOUTH CHINA UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, the current control methods for underactuated surface ...

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  • Under-actuated water surface ship control method satisfying preset tracking performance
  • Under-actuated water surface ship control method satisfying preset tracking performance
  • Under-actuated water surface ship control method satisfying preset tracking performance

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Embodiment

[0062] This embodiment provides a trajectory tracking control method for an underactuated surface vessel under the preset tracking performance constraints. The schematic diagram of the underactuated surface vessel system is as follows figure 1 As shown, the overall control block diagram is shown as figure 2 As shown, its detailed implementation process includes:

[0063] Step 1, establish underactuated surface ship dynamic model;

[0064] According to the surface ship system model below:

[0065]

[0066] Expand a dynamic model in vector form to scalar form:

[0067]

[0068] Among them, ψ is the heading angle of the ship, r is the steering angular velocity of the ship obtained after derivation of ψ, R(ψ) represents the rotation matrix, Indicates position η 1 derivative of Denotes the derivative of the longitudinal velocity u, Denotes the derivative of the sway velocity v, Indicates the derivative of the steering angular velocity r, τ u Indicates the longitu...

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Abstract

The invention discloses an under-actuated water surface ship control method satisfying preset tracking performance. Aiming at an under-actuated water surface ship nonlinear dynamic model, tracking error steady state precision and a transient state performance index are designed, a transverse function is built to introduce extra control input, and design of a tracking controller is completed, thereby ensuring that a tracking error of a closed-loop control system converges to a preset arbitrarily small area, and ensuring that the convergence rate and overshoot satisfy preset requirements. The method specifically includes the following steps: establishing an under-actuated water surface ship dynamic model; designing steady state performance and transient state performance requirements of a control system; designing a speed error equation to introduce extra control; designing a disturbance observer to compensate external time-varying disturbance; and designing a state feedback tracking controller. The control method designed by the invention can solve the problem of under-actuated water surface ship motion control, realize tracking control of any smooth reference trajectory, and improve tracking error steady state performance and transient state performance of the control system.

Description

technical field [0001] The invention relates to the field of trajectory tracking control of underactuated surface unmanned ships, in particular to an underactuated surface ship control method that satisfies preset tracking performance. Background technique [0002] Surface ships will play an extremely important role in the exploration and development of marine resources, maritime transportation and national defense construction. The actual ship system usually only relies on propeller thrust and rudder torque to realize motion control in three directions. It belongs to a type of underactuated mechanical system, that is, the number of independent control variables of the system is less than the number of degrees of freedom of the system. The motion control method of underactuated ships not only reduces the cost of control equipment and the weight of ships, but also improves the safety and economy of ship maneuvering. Underactuated ships are a typical nonlinear dynamical syste...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 戴诗陆何树德方冲王敏
Owner SOUTH CHINA UNIV OF TECH
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