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Pod propulsion type unmanned surface vehicle heading control method based on characteristic model

A characteristic model and control method technology, applied in the field of unmanned boat control, can solve the problems of poor control accuracy and stability of the inner loop, and achieve the effect of overcoming the poor control accuracy and stability of the inner loop and small track error

Inactive Publication Date: 2019-07-19
KUNMING UNIV OF SCI & TECH
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Problems solved by technology

[0004] The invention provides a pod propulsion type unmanned boat heading control method based on a characteristic model, which is used to overcome the problem of poor control accuracy and stability of the inner ring during the heading control of the unmanned boat

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  • Pod propulsion type unmanned surface vehicle heading control method based on characteristic model
  • Pod propulsion type unmanned surface vehicle heading control method based on characteristic model
  • Pod propulsion type unmanned surface vehicle heading control method based on characteristic model

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Embodiment 1

[0035] Embodiment 1: as Figure 1-7 As shown, a pod propulsion type unmanned boat heading control method based on a characteristic model, the specific steps of the control method are as follows:

[0036] Step1. First collect a set of unmanned boat maneuver data, and perform limit filtering on the collected maneuver data to eliminate interference items;

[0037] Step2. Establish a mathematical model of the ship;

[0038] Step3. Based on the established mathematical model of the ship, design the heading controller of the unmanned boat based on the characteristic model, and control the heading of the unmanned boat through the designed heading controller of the unmanned boat based on the characteristic model.

[0039] Further, in the step Step2, the establishment of the ship mathematical model includes two steps:

[0040] Step2.1. Carry out feature modeling; where, the mathematical expression of modeling is represented by the following second-order time-varying difference equati...

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Abstract

The invention relates to a pod propulsion type unmanned surface vehicle heading control method based on a characteristic model and belongs to the technical field of unmanned surface vehicle control. The method comprises the following steps: firstly acquiring a group of mobile data of an unmanned surface vehicle, and performing amplitude-limiting filtering on the acquired mobile data, so that a disturbance term is eliminated; building a ship mathematical model; and on the basis of the built ship mathematical model, designing an unmanned surface vehicle heading controller based on the characteristic model, and controlling heading of the unmanned surface vehicle by virtue of the designed unmanned surface vehicle heading controller based on the characteristic model. The heading controller based on the characteristic model can overcome the problems that inner ring control precision is low and stability is poor and can combine an LOS (light of sight) guidance algorithm for realizing trackingof a path, and a track error is small.

Description

technical field [0001] The invention relates to a method for controlling the heading of a pod propulsion type unmanned boat based on a characteristic model, and belongs to the technical field of unmanned boat control. Background technique [0002] Unmanned ships have gradually attracted the attention of all parties in the shipping industry in recent years. As an unmanned small ship capable of autonomous navigation and intelligent operation, the unmanned vehicle (USV) has gradually entered the engineering application research from the simulation research in the laboratory with the advancement of sensor technology and the development of modern control theory. Among them, such as bridge inspection, marine surveying and mapping, water quality monitoring and water search and rescue, etc. [0003] Path tracking control of UAV is the basis of research on UAV formation control and cooperative control. The path tracking controller generally has two structures. One is to divide the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王晓东熊鑫吴建德黄国勇范玉刚叶波邹金慧冯早
Owner KUNMING UNIV OF SCI & TECH