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A wave-resistant and energy-saving path tracking method for unmanned boats

A path tracking, unmanned boat technology, applied in control/regulation systems, controllers with specific characteristics, two-dimensional position/channel control, etc., can solve problems such as shortening battery life and increasing energy consumption

Active Publication Date: 2020-12-04
SHANGHAI MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But this method will increase energy consumption and shorten battery life

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  • A wave-resistant and energy-saving path tracking method for unmanned boats
  • A wave-resistant and energy-saving path tracking method for unmanned boats
  • A wave-resistant and energy-saving path tracking method for unmanned boats

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Embodiment Construction

[0040] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below in conjunction with a dual-electric propulsion fixed double-screw rudderless surface unmanned boat in an embodiment.

[0041] control target:

[0042] Such as figure 1 Shown is a schematic diagram of the path tracking model of the unmanned surface vehicle in an implementation, and the motion model of the unmanned surface vehicle under the wave interference environment is established:

[0043]

[0044] Among them, m is the total mass of the unmanned surface vehicle; and are the accelerations of the speed V on the X and Y axes of the attached body coordinate system; f x , f y are the components of the resistance on the hull on the X and Y axes, respectively; F l , F r are the thrust of the left and right propellers, respectively; f l , f r are the resistances on the left and rig...

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Abstract

The invention proposes a wave-resistant and energy-saving path tracking method for unmanned surface vehicles. On the basis of a convention path tracking control method for unmanned surface vehicles, awave observation module and a fuzzy inference module are added; wave heights and encounter angles detected by the wave observation module are adopted as inputs for the fuzzy inference module; a relation between the wave heights, the encounter angles and structure parameters of a controller is established by the fuzzy inference module, and the structure parameters of the controller are dynamicallyadjusted. Not only is the tracking precision of an unmanned surface vehicle ensured, but also the objective of energy saving is achieved.

Description

Technical field: [0001] The invention relates to the field of path tracking of unmanned boats on the water surface, in particular to a path tracking method for anti-wave and energy-saving unmanned boats. Background technique: [0002] Unmanned Surface Vehicle (USV) is a kind of intelligent unmanned vehicle in marine space, and it is a kind of equipment that can enter unknown or dangerous areas to perform tasks. The path tracking of unmanned boats is the key technology for performing tasks. Unmanned boats are susceptible to wave interference during the path tracking process. In order to improve the anti-jamming performance, the existing control methods mostly use large control gains. For example, a fuzzy PID based Unmanned surface vehicle linear tracking method, Yang Zhao, application number: 201410027287.7. But such a method will increase energy consumption and shorten battery life. To solve this problem, the present invention proposes a wave-resistant and energy-saving pa...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05B13/04G05B13/02G05B11/42
CPCG05B11/42G05B13/0275G05B13/042G05D1/0206
Inventor 张山甲王建华张程赵名绘
Owner SHANGHAI MARITIME UNIVERSITY