Accurate path tracking control method of unmanned ship based on dual-guidance of speed and course

A path tracking, unmanned ship technology, applied in two-dimensional position/channel control and other directions, can solve problems such as reducing the accuracy of unmanned ship path tracking control system

Active Publication Date: 2019-06-07
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

In the control subsystem, the precise estimation of the uncertainties caused by external disturbances and internal parameter perturbations cannot be realized, so the influence o

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  • Accurate path tracking control method of unmanned ship based on dual-guidance of speed and course
  • Accurate path tracking control method of unmanned ship based on dual-guidance of speed and course
  • Accurate path tracking control method of unmanned ship based on dual-guidance of speed and course

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Embodiment Construction

[0116] The present invention will be further described below in conjunction with the accompanying drawings.

[0117] figure 1 Shown is the relationship between the inertial coordinate system and the subject's fixed coordinate system, and a schematic diagram of the positions of the moving virtual ship and the unmanned ship in step A.

[0118] figure 2 It is a block diagram of the path tracking control system. The tracking error dynamics equation is obtained from the dynamic model of the underactuated unmanned ship and the actual position error between the virtual ship and the unmanned ship. Based on this equation, the dual guidance law of speed and heading is designed. According to the unknown uncertain items, a finite time observer is designed, and a corresponding non-smooth controller is designed to control the underactuated unmanned vehicle to achieve accurate path tracking requirements.

[0119] In order to check the effectiveness of the proposed method of the present in...

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Abstract

The invention discloses an accurate path tracking control method of an unmanned ship based on dual-guidance of speed and course. The accurate path tracking control method of the unmanned ship based onthe dual-guidance of the speed and the course includes the following steps of calculating a path tracking error dynamic state; designing a dual-guidance law of speed and course; designing a finite-time unknown observer; and designing a non-smooth controller based on the finite-time unknown observer. According to the accurate path tracking control method of the unmanned ship based on the dual-guidance of the speed and the course, the dual-guidance law which can simultaneously guide the speed and a course angle according to tracking errors is put forward, so that position errors of the unmannedship can be stabilized to zero in finite time, the operating burden of a rudder is reduced, and the operation flexibility and integrity of a guidance system are improved; the dual-guidance law of thespeed and the course is designed to improve the operation flexibility and integrity of the guidance system, the finite-time unknown observer accurately observes complex external disturbances and internal uncertainties, and compensation is carried out in the non-smooth speed controller and a course controller, and thus the tracking accuracy of a path tracking control system is greatly improved.

Description

technical field [0001] The invention belongs to the field of unmanned ships, in particular to an accurate path tracking control method for unmanned ships. Background technique [0002] With the widespread application of automation theory and practice in marine engineering, underactuated surface unmanned vehicles, as a highly autonomous unmanned vehicle, can flexibly and conveniently complete a series of high-risk marine tasks. Among them, high-precision path-following control technology plays a vital role in developing the autonomy of underactuated surface unmanned vehicles. In fact, the path following problem can be well solved by combining guidance and control. In the design of guidance subsystem, the effectiveness of line-of-sight guidance has been widely recognized by theory and experiment. Proportional line-of-sight guidance calculates the expected heading angle by setting an arctangent function related to lateral error. On the basis of proportional line-of-sight guid...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 王宁潘婷焦宇航孙卓李贺
Owner DALIAN MARITIME UNIVERSITY
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