Unmanned surface ship track tracking method based on actuator faults

A track tracking and actuator technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of actuator failure, weak anti-interference and fault tolerance, slow convergence speed, etc., achieve simple structure, reduce Effects of cost, easier design and implementation

Inactive Publication Date: 2018-10-19
DALIAN MARITIME UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] 1. The existing method can only ensure that the tracking error can be stabilized to zero or a neighborhood near zero when the time tends to infinity, asymptotic convergence, slow convergence speed, low control accuracy, weak anti-interference and fault tolerance , it is difficult to achieve precise track tracking co

Method used

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  • Unmanned surface ship track tracking method based on actuator faults
  • Unmanned surface ship track tracking method based on actuator faults
  • Unmanned surface ship track tracking method based on actuator faults

Examples

Experimental program
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Embodiment

[0091] Embodiment: Carry out Matlab simulation research with the CyberShip II unmanned surface ship in the document [], relevant parameters are given in Table 1.

[0092] Table 1 CyberShip II unmanned surface vessel parameters

[0093]

[0094] In this example, τ d =[8,3cos 2 (0.1πt), sin 2 (0.11πt)] T ; The initial state of the unmanned surface vehicle is η d (0)=[17, 17.8, π / 6] T , ν d (0)=[1,0,0] T , η(0)=[17,8.2,π / 3] T , ν(0)=[0,0,0] T .

[0095] Correspondingly, the control parameters of our control law are: κ 1 =0.15, κ 2 =0.15, κ 3 =diag(0.2,0.2,0.2),κ 4 =diag(0.1,0.1,0.2),β 1 = 1 / 3, β 2 =1 / 2, ρ=1 / 3. Simulation results such as Figure 4-6 shown.

[0096] from image 3 It can be seen that even if the unmanned ship suffers from complex controller failures and external disturbances, the control law designed in the present invention can realize fast and accurate track tracking control.

[0097] In addition to position tracking, the control law can als...

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Abstract

The invention discloses an unmanned surface ship track tracking method based on actuator faults, comprising the following steps: S1: analyzing various types of information of actuator faults, and modeling the actuator faults of an unmanned ship; S2: performing coordinate conversion of the velocity [Nu] in a mathematical model M1 of the unmanned surface ship in S1 to obtain a new velocity [Omega] and a new model M1'; S3: establishing an actuator fault observation device based on a track and speed tracking error model M in S2, and reconfiguring the actuator faults and external disturbance; S4: according to the track and speed tracking error model M in S2, establishing an integral sliding mode surface and a precise track tracking control law [Tau] of the unmanned surface ship with actuator faults; and S5: measuring the actual unmanned ship position to determine whether the unmanned surface ship reaches the end point of the actual track [Eta]d in S1.

Description

technical field [0001] The invention relates to the fields of ship control engineering and ship automatic navigation, in particular to a track tracking method for an unmanned surface ship based on actuator failure. Background technique [0002] At present, in the field of ship track tracking technology, the use of a certain control algorithm is the core of unmanned surface vehicles. It can not only make unmanned surface vehicles operate safely and reliably according to the established tasks, but also enhance its robustness and improve anti-interference ability. . Common unmanned ship control algorithms include PID, backstepping, sliding mode, fuzzy neural network, etc. [0003] In literature [1], for the "Charlie" unmanned surface vessel, the self-oscillation model identification method is used to identify its parameters, and a PID heading controller is designed. The sea experiment verification can show good results. In order to further strengthen the control performance o...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王宁吕帅林尹建川郑忠玖李贺
Owner DALIAN MARITIME UNIVERSITY
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