Non-linear path tracking control system and method for underactuated water surface ship
A nonlinear path and control system technology, applied in the field of nonlinear path tracking control system of underactuated surface ships, can solve the problems of control performance influence, without considering the input dead zone characteristics of actuators, etc., and achieve the effect of improving control performance
Active Publication Date: 2020-04-21
HARBIN ENG UNIV
View PDF11 Cites 14 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In addition, when designing a path-following control system, most of the controllers designed in the literature do not consider the characteristics of the actuator input dead zone
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0041] The present invention will be further described below in conjunction with the drawings.
[0042] Based on the input dead zone of the actuator, the present invention designs an under-actuated surface ship nonlinear path tracking control system, such as figure 1 As shown, it includes a guidance system 1, a control system 2, an actuator 3, a sensor system 6, a longitudinal disturbance observer 13, and a heading disturbance observer 14. The sensor system includes a posture sensor 7 and a speed sensor 8. The sensor system transmits the measured posture and speed information of the ship to the guidance system 1, the control system 2, the longitudinal interference observer 13, and the heading interference observer 14. The guidance system 1 includes a longitudinal speed guide 9 and a heading angle guider 10. The guidance system 1 calculates the desired longitudinal speed and the desired heading angle and transmits them to the control system 2. The longitudinal interference observ...
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
Login to View More Abstract
The invention belongs to the technical field of ship path tracking control, and particularly relates to a non-linear path tracking control system and method for an underactuated water surface ship. Onthe basis of designing a longitudinal speed and heading angle dual guidance law, dead zone characteristics of an executing mechanism are considered, a controller based on the input dead zone is designed so as to enable the under-actuated water surface ship to well track an expected path, and the adverse effect of the input dead zone characteristics of the executing mechanism on the tracking performance is avoided. According to the invention, an expected longitudinal speed and heading angle guide system is designed according to a path tracking transverse error, so that the underactuated watersurface ship can reach an expected path more quickly; in addition, a control law is designed based on the input dead zone characteristics of the executing mechanism, and the control performance of thecontrol system is improved.
Description
Technical field [0001] The invention belongs to the technical field of ship path tracking control, and specifically relates to a nonlinear path tracking control system and method for an under-driven surface ship. Background technique [0002] In recent years, as countries have turned more and more attention to the ocean, underpowered surface ships have received a lot of attention from all parties, and they have been widely used in military and civilian applications. While performing various tasks, the path tracking control of the under-driven surface vessel plays a vital role. [0003] The path-following problem refers to the design of control commands so that the under-driven surface vessel can reach and track a preset desired path without time constraints. Path tracking control systems are usually divided into guidance systems and control systems. When designing a guidance system for path tracking, most documents use the line-of-sight method to generate the desired heading angl...
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
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 夏国清王心玮孙创韩志伟
Owner HARBIN ENG UNIV