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Under-actuated unmanned ship target enclosing controller structure and design method

A technology of controllers and unmanned ships, applied in the direction of non-electric variable control, control/regulation system, two-dimensional position/channel control, etc., can solve the problem of fast and time-varying speed moving targets that are not applicable and the controller is not applicable , without considering the horizontal drifting of unmanned ships, etc., to achieve the effect of expanding the field of motion control

Active Publication Date: 2019-03-01
DALIAN MARITIME UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0011] First, many existing target encirclement controllers are designed for stationary or slow-moving targets, and this type of controller is not suitable for enclosing fast, time-varying speed moving targets
[0012] Second, most of the existing target encirclement controllers are designed based on the full-drive model, but most of the actual ship models are under-actuated, and the controller does not consider the lateral drift during the motion of the unmanned ship, so it is not suitable for under-actuated unmanned ship motion control

Method used

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  • Under-actuated unmanned ship target enclosing controller structure and design method
  • Under-actuated unmanned ship target enclosing controller structure and design method

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Embodiment Construction

[0072] In the following, target encirclement control is performed for a specific unmanned ship, and the present invention is further described by taking this as an example. figure 1 For the structural schematic diagram of the present invention, first rewrite the kinematic model (2) and the dynamic model (3) of the controlled unmanned ship as:

[0073]

[0074] in:

[0075]

[0076] The specific parameters of the unmanned ship model are selected as follows:

[0077]

[0078]

[0079]

[0080] The surrounding target speed is u t =0.2+0.5sin(πt / 800), r t =-0.01cos(πt / 500), the control target is set to ρ d =10,u d =1+0.1sin(t / 10), the initial positions of the controlled unmanned ship and the target are respectively set as and The structure of the target encircling controller satisfies equations (4)-(12), and the specific control parameters are selected as follows:

[0081] k 1 =20,k 2 =100,k 3 =20,k 4 =100,k 5 =20,k 6 =100,k 7 =220,k 8 = 220

[008...

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Abstract

The invention discloses an under-actuated unmanned ship target enclosing controller structure and a design method. The structure comprises a position calculation unit, a speed observer, a fuzzy approximator, a distance controller, a heading controller and a dynamic controller. The position calculation unit receives the unmanned ship state inforamtion and the target relative position information. The speed observer receives the unmanned ship speed information. The distance controller receives a given surrounding distance. The dynamic controller is connected with a controlled under-actuated unmanned ship and the fuzzy approximator. The fuzzy approximator receives the unmanned ship state information. The structure realizes the enclosure control of the unmanned ship over a time-varying speed target. The controller can estimate the relative dynamic information by using the unmanned ship state information and the target relative position information, and designs a control rate based on a backstepping method. The controller can achieve target enclosing control only by using an angular velocity signal. Thus, the structure is suitable for both full-actuated unmanned ships and under-actuatedunmanned ships.

Description

technical field [0001] The invention relates to the field of surface unmanned ship control, in particular to a target encircling controller structure and a design method for an underactuated unmanned ship. This control method can play an important role in tasks such as formation escort, maritime patrol and target surveillance. Background technique [0002] As an important tool for human protection and development of the ocean, surface unmanned ships have been widely used in military, civil and scientific research fields by virtue of their unmanned, miniaturized and intelligent advantages. Among the various control schemes for unmanned ships, four control methods, point stabilization, trajectory tracking, path tracking and target tracking, have received widespread attention and research. However, target encirclement, as an important control method, has less achievements in the field of motion control in unmanned ships. The target encirclement control of the unmanned ship is...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 彭周华姜岳王丹刘陆古楠
Owner DALIAN MARITIME UNIVERSITY
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