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

A design method and path tracking technology, which are applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control and other directions, which can solve unfavorable engineering implementation, affect the effect of path tracking control, and manually adjust parameters. more questions

Active Publication Date: 2019-07-05
DALIAN MARITIME UNIVERSITY
View PDF7 Cites 19 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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, req

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Design method for path tracking guidance and control structures of constrained unmanned ships
  • Design method for path tracking guidance and control structures of constrained unmanned ships
  • Design method for path tracking guidance and control structures of constrained unmanned ships

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0070] The present invention will be further described below in conjunction with the accompanying drawings. figure 1 It is a structural schematic diagram of the present invention, containing the dynamic model in the restrained unmanned ship path tracking control system containing the restrained unmanned ship to satisfy the formula (1), and the specific parameters of the model are as follows:

[0071]

[0072]

[0073] The initial position of the unmanned ship with constraints is p=[-5-10] T .

[0074] In this embodiment, the control target of the path tracking controller of the unmanned ship with constraints is to ensure that the unmanned ship with constraints accurately tracks the track of the target, and the parameters are as follows: reference position p r =[0.1t 0.1t] T , control input -10≤τ u ≤10, -5≤τ r ≤5, sampling time T=0.1, weighting factor Γ u = 0.00, the number of prediction steps n = 3, the expected longitudinal velocity of the unmanned ship with cons...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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 ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02G05D1/10
CPCG05D1/0206G05D1/10
Inventor 彭周华孙邱越张宝古楠王丹刘陆
Owner DALIAN MARITIME UNIVERSITY
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap