Accurate control method for path tracking of unmanned ship based on dual guidance of speed and heading

A technology of path tracking and control methods, applied in adaptive control, general control systems, control/regulation systems, etc., can solve the problems of reducing the accuracy of path tracking control systems, fast and accurate disturbance estimation and compensation, etc.

Inactive Publication Date: 2019-02-19
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the control subsystem, fast and accurate disturbance estimation and compensation ar

Method used

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  • Accurate control method for path tracking of unmanned ship based on dual guidance of speed and heading
  • Accurate control method for path tracking of unmanned ship based on dual guidance of speed and heading
  • Accurate control method for path tracking of unmanned ship based on dual guidance of speed and heading

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Embodiment Construction

[0088] In order to illustrate the effectiveness of the method, the simulation is carried out on the CybershipI unmanned ship model, and the control method (abbreviation: FDO-SVLOS) proposed by the present invention is compared with the algorithm (abbreviation: SVLOS) without the finite time disturbance observer, with Further explain the observation effect of the finite-time disturbance observer. The parameters of the unmanned ship model are:

[0089] m 11 =19kg,m 22 =35.2kg,m 33 =4.2kg,d 11 =4kg / s,d 22 =1kg / s,d 33 = 10 kg / s.

[0090] The complex unknown interference assumptions are as follows:

[0091] τ δ =[sin(t+0.3π),cos(t+0.1π),sin(t+0.2π)] T

[0092] The initial state of the unmanned ship is set as:

[0093] [x,y,ψ]=[10,0,0], [u,v,r]=[0,0,0],

[0094] The reference path is set as follows:

[0095]

[0096] The setting parameters in the algorithm are chosen as:

[0097] k 1 = 1,k 2 =1,Δ=1.2,L=diag(400,400,400),λ 1 =0.2,λ 2 =0.01,k u =1.2,k ψ =1.2,k ...

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Abstract

The invention discloses an accurate control method for a path tracking of an unmanned ship based on a dual guidance of the speed and the heading. The method comprises the following steps of: establishing a kinematics model and a dynamics model of the unmanned ship; constructing an error dynamics of the path tracking; designing a dual guidance law of the speed and the heading; and designing a finite-time interference observer. According to the accurate control method for the path tracking of the unmanned ship based on the dual guidance of the speed and the heading, the dual guidance law of thespeed and the heading provided by the control method can simultaneously guide the speed and the heading angle according to the path tracking errors, and improves the stability and flexibility of the path tracking control system. The finite-time interference observer constructed by the control method can accurately observe the complex external disturbances; ensures that the observation error is zero for a finite time; and can avoid the limitations of bounded observations and asymptotic observations. The control method designs a speed and heading tracking controller combining the design of a finite time observer and the back stepping control technology, so that the guidance signal can be accurately tracked in the presence of a complex interference, thereby achieving the accurate control forthe path tracking of the unmanned ship.

Description

technical field [0001] The invention belongs to unmanned ship control technology, in particular to an unmanned ship precise path tracking control method based on dual guidance of speed and course. Background technique [0002] Driven by the vigorous development of marine military and commerce, unmanned ships have received high attention due to their high degree of autonomy and automation. Unmanned ships can autonomously perform various high-risk maritime tasks without human participation, and path-following control technology plays a fundamental role in various maritime tasks. Usually the unmanned ship path tracking control system can be divided into guidance subsystem and control subsystem. In the design of the guidance subsystem, the line-of-sight guidance method is mainly used. The proportional line-of-sight guidance was first proposed, and the expected rudder angle is calculated by the lateral error and the arc tangent of a set parameter. Integral line-of-sight guidanc...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王宁孙卓尹建川苏顺丰
Owner DALIAN MARITIME UNIVERSITY
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