Design method for path tracking guidance and control structures of constrained unmanned ships

Abstract

The invention discloses a design method for path tracking guidance and control structures of constrained unmanned ships. The method includes the following steps: designing a disturbance observer; designing a LOS guidance law module; designing a heading control module; and designing a speed control module. Estimation can be performed on lumped uncertainty consisting of constrained unmanned ship dynamics modeling uncertainty and external disturbance brought by marine environments by adopting the disturbance observer, so that the method is less in required adjustment parameter and easy to adjustparameters; the calculating load of a guidance and control structure can be effectively reduced by sending the estimated value of the lumped uncertainty to the heading control module and the speed control module to control a ship to move, so that rapid convergence can be realized, the anti-interference capabilities of the guidance and control structure can be enhanced, and good control performancecan be achieved; and through an online scrolling optimization and feedback correction strategy, the guidance and control structure of a constrained unmanned ship can fully utilize allowed control motion, so that performance can be enhanced.

Description

technical field [0001] The invention relates to the field of unmanned ships, in particular to a design method for a path tracking guidance and control structure of an unmanned ship with constraints. Background technique [0002] In view of the broad prospects for the application of unmanned ships with constraints and the huge advantages in light weight and energy consumption, all countries are committed to the research of unmanned ships with constraints, which is currently at a critical stage of rapid development. There have been tentative applications in civil and civilian fields and have achieved great success, including anti-submarine warfare, support for special operations, maritime cruise supervision, maritime search and rescue, ocean data measurement and monitoring, and meteorological support services. Especially with the rapid development of new technologies and concepts such as communication technology and artificial intelligence, new breakthroughs have been made in ...

AI Technical Summary

Problems solved by technology

[0005] First, the existing path-tracking control methods rely on accurate ship models, and the internal and external disturbances of the ship, such as the uncertainties caused by modeling errors and unknown disturbances caused by changes in wind, wave and current in the marine environment, are fully integrated. Ship path tracking control is carried out after manual preset, which leads to this type of control method to control the motion of the ship only after obtaining the required parameters in advance, which is not conducive to engineering realization

In addition, the control system has a large computational burden, requires many manual adjustment parameters, and the process is cumbersome

[0006] Second, some existing path-following control methods use neural networks or disturbance observers to estimate the uncertainty of the dynamic system of unmanned ships with constraints, but they cannot handle constraints explicitly and actively, that is, unmanned ships with constraints Driving in a complex and changeable ocean environment, the control action at the current moment may produce dynamics that violate the constraints at the next moment, reducing the performance of the control system, thereby affecting the control effect of path tracking

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