Explicit model forecast control-based flight path control method of unmanned surface vehicle

A technology of model predictive control and control method, applied in the direction of adaptive control, general control system, non-electric variable control, etc., can solve problems such as large amount of calculation and difficult real-time requirements, save hardware resources and reduce online computing time Effect

Active Publication Date: 2019-12-27
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0006] However, the above methods all need to repeatedly solve the optimal problem online, the amount

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  • Explicit model forecast control-based flight path control method of unmanned surface vehicle
  • Explicit model forecast control-based flight path control method of unmanned surface vehicle
  • Explicit model forecast control-based flight path control method of unmanned surface vehicle

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Embodiment Construction

[0034] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0035] Such as figure 1 with figure 2 As shown, the unmanned ship track control method based on explicit model predictive control of the present invention comprises steps:

[0036] (1) Establish the three-degree-of-freedom maneuvering model of the surface unmanned ship, and construct the state space expression as the prediction model;

[0037] In order to describe the track control problem of the unmanned ship conveniently, considering the surge speed of the unmanned ship is a constant value, the three-degree-of-freedom maneuvering model of the unmanned ship is:

[0038]

[0039] In the formula, η=[x y ψ] T is the position vector of the unmanned ship, (x, y) is the position of the hull in the northeast coordinate system, ψ is the heading angle; ν=[u c v r] T is the velocity vector of the unmanned ship, u c is the su...

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Abstract

The invention discloses an explicit model forecast control-based flight path control method of an unmanned surface vehicle. The explicit model forecast control-based flight path control method comprises the steps of firstly, building a control model of the unmanned surface vehicle, and acquiring position gesture and reference flight path point information of the unmanned surface vehicle; secondly,calculating expected flight speed and heading direction in real time according to a path planning algorithm, and simplifying ship flight path control to heading direction control; and finally, obtaining a rotational speed and a rudder angle of a propeller by a display model forecast control algorithm for the unmanned surface vehicle to achieve ship flight path control. The explicit model forecastcontrol algorithm is applied to the field of flight path control of the unmanned surface vehicle, the complicated on-line optimization process is converted to simple table lookup process by introducing a multi-parameter secondary planning theory, the on-line calculation complexity is reduced, and the real-time performance of a flight path control system is improved.

Description

technical field [0001] The invention relates to unmanned ship track control technology, in particular to an unmanned ship track control method based on explicit model predictive control. Background technique [0002] As an unmanned and intelligent carrier platform, Unmanned Surface Vessel (USV) is widely used in scientific research, business and exploration. Accurate track control is the basis for ensuring safe navigation of ships and saving time and energy, so it has become a research hotspot in the field of ship motion control. [0003] At present, scholars at home and abroad have conducted research on the track control of unmanned ships, and proposed methods such as fuzzy control, backstepping control, and neural networks. However, the above method does not consider the constraints of the ship's maneuvering characteristics, and there are certain limitations in practical applications. [0004] Model predictive control (Model predictive control, MPC) is an advanced intell...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05D1/0088G05D1/0206G05B13/042Y02T90/00
Inventor 袁伟陈天元俞孟蕻齐亮苏贞杨奕飞
Owner JIANGSU UNIV OF SCI & TECH
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