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High precision trajectory tracking and control method

A trajectory tracking and control method technology, applied in vehicle position/route/altitude control, non-electric variable control, control/regulation system, etc., can solve the problems of lack of technical support and application, lack of high-precision trajectory tracking, etc. The effect of precision tracking

Inactive Publication Date: 2019-04-12
GUANGDONG HUST IND TECH RES INST
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AI Technical Summary

Problems solved by technology

At present, control technology and computer technology are developing rapidly, but there is a lack of corresponding research on high-precision trajectory tracking, and there is a lack of corresponding technical support and applications in terms of using advanced control methods as controllers to achieve high-precision trajectory tracking.

Method used

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  • High precision trajectory tracking and control method

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Embodiment Construction

[0036] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the implementation scope of the present invention is not limited thereto.

[0037] like Figure 1 to Figure 3 As shown, a high-precision trajectory tracking control method described in this embodiment.

[0038] In order to achieve the above object, the specific scheme of the present invention is as follows: comprise the following steps,

[0039] a1. Determine the position information and rudder angle information of the ship;

[0040] a2. Assign the position information and rudder angle information to the line-of-sight navigation algorithm, and obtain the desired heading angle through the line-of-sight navigation algorithm;

[0041] a3, including a GPC controller, which is transmitted to the GPC controller through the determined ship position information, rudder angle information and expected heading angle;

[0042] a4. The GPC co...

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Abstract

The invention discloses a high precision trajectory tracking and control method. The method comprises of respectively sending the position and the rudder angle of a ship to a line of sight aiming navigation algorithm and a GPC controller, visually calculating a desired heading angle, and the GPC controller tracking the heading angle to obtain a commanded steering angle. A visual navigation algorithm can imitate the visual characteristics of humans according to the setting, track the desired point according to the distance, and then obtain the desired heading angle according to its own position. The invention designs a GPC controller by utilizing the advantages of multi-step prediction, rolling optimization, and feedback correction of GPC to track the heading angle of the visual output, calculate the commanded steering angle of the ship, and realize high precision tracking of the ship's trajectory.

Description

technical field [0001] The invention relates to the field of ship track tracking control, and in particular to a high-precision track tracking control method. Background technique [0002] In the field of ship motion control, the high-precision trajectory tracking control of ships has always been a key research topic; the core of ship trajectory tracking is heading control; as a classic target tracking method, the line of sight (LOS) navigation algorithm uses points and The visibility is judged by the simple geometric relationship between points; it has the advantages of simple and intuitive, easy parameter setting, and good convergence. This algorithm is independent of the dynamic controller, and requires few parameters to be designed. The acquisition of the desired heading is only related to the actual position and the given trajectory, and the desired heading angle can be obtained efficiently; but only the heading angle obtained by LOS can only make the trajectory Conver...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 耿涛张国军赵金刘恒志王旭东张红梅
Owner GUANGDONG HUST IND TECH RES INST
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