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Unmanned boat track tracing intelligent learning control method

A technology of intelligent learning and track tracking, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of large slewing, long convergence time, difficult to obtain accurate hydrodynamic coefficient, etc., and achieve small tracking The effect of error, reduced dependence, and fast tracking control response speed

Active Publication Date: 2019-01-29
HARBIN ENG UNIV
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing track tracking control methods are based on Line-of-Sight (LOS) for guidance law design, but because the radius of the LOS circle is a constant value, when the yaw distance is large, it is easy to cause the convergence time to be too long
In addition, since the accurate hydrodynamic coefficient of the unmanned boat is often difficult to obtain, the backstepping control method based on the mathematical model has great limitations, and the PID control method will lead to large errors when the heading angle of the unmanned boat and the expected heading angle are large. giant slalom problem

Method used

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  • Unmanned boat track tracing intelligent learning control method
  • Unmanned boat track tracing intelligent learning control method
  • Unmanned boat track tracing intelligent learning control method

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specific Embodiment 1

[0040] The invention discloses an intelligent learning control method for track tracking of an unmanned boat, which belongs to the technical field of intelligent control of unmanned boats. The expected heading angle in the track tracking process is calculated from the reference waypoint and the real-time position of the UAV according to the Line-of-Sight (LOS) guidance strategy, and the radius of the LOS circle for solving the reference waypoint is designed as a function of the yaw distance , which can effectively improve the track tracking convergence performance of the unmanned vehicle. The fuzzy adaptive control method is introduced into the control of speed and course, and the speed information of the unmanned ship is used as the input to learn the model of the unmanned ship online, and the output of the fuzzy system is used to construct a robust dynamic controller. The track tracking control method provided by the invention can quickly eliminate the yaw error, and the con...

specific Embodiment 2

[0071] In the first step, a number of track points are preset according to the operation task of the unmanned vehicle, and the track points are connected in turn to generate a composite path composed of straight line path units, and the real-time reference path points on each straight line path unit are extracted:

[0072]

[0073] In the formula, (x r ,y r ) is the real-time reference path point, (x j ,y j ), j=1,2,...j...n is the predetermined jth track point coordinates, (x,y) is the real-time position of the unmanned boat, α j-1 is the connecting track point (x j-1 ,y j-1 ) and (x j ,y j ), R is the radius of the Line-of-Sight circle, and its calculation method is as follows:

[0074]

[0075] Among them, d is the yaw distance, that is, the lateral tracking error between the UAV and the expected path, R min is the radius of the minimum inscribed circle, δ is the thickness of the boundary layer, and λ is an adjustable parameter, when the yaw distance d≤R min ...

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Abstract

The invention discloses an unmanned boat track tracing intelligent learning control method, and belongs to the technical field of intelligent control of unmanned boats. The method comprises: presetting a plurality of track points according to an unmanned boat operation task, sequentially connecting the track points, generating a composite path composed of linear path units, and extracting real-time reference path points on each linear path unit; calculating a reference heading angel of the unmanned boat, and establishing a switching strategy of tracing the next linear path unit; designing a fuzzy adaptive controller based on model online learning, using a product inference engine to implement the premise reasoning of the rules, using a single value fuzzifier to perform fuzzification, usingthe product inference engine to realize the reasoning of a rule premise and a rule conclusion, and using an average defuzzifier to obtain the output of a fuzzy system; mapping the control force and the control torque into the propeller voltage and the command rudder angle, and driving the unmanned boat to reach the desired speed and heading, and then completing the track tracing.

Description

technical field [0001] The invention belongs to the technical field of intelligent control of unmanned boats, and in particular relates to an intelligent learning control method for track tracking of unmanned boats. Background technique [0002] Unmanned boat is one of the intelligent operation platforms in the marine field. It has become an important surface equipment in the fields of marine resource exploration and development, submarine surveying and mapping, long-range forward reconnaissance, and surface air defense. Unmanned boats often need to perform track tracking operations when performing the above tasks. Track tracking requires the unmanned vehicle to arrive and be able to follow the predetermined path. In order to meet the mission requirements with strict time requirements, the speed control can be increased. [0003] In the track tracking control strategy of the unmanned vehicle, the compound linear path tracking based on the preset track point can better meet ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 万磊曾江峰李岳明牛广智徐钰斐郑晓波
Owner HARBIN ENG UNIV
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