Method and system for determining navigation speed controller of high-speed unmanned surface vehicle based on multi-model switching

Abstract

The invention discloses a method and a system for determining a navigation speed controller of a high-speed unmanned surface vehicle based on multi-model switching, and relates to the field of unmanned surface vehicle motion control. The method specifically comprises the following steps: firstly, carrying out clustering processing on obtained experimental dynamics data of a high-speed unmanned surface vehicle in an acceleration stage and a deceleration stage, determining a theoretical dynamics model corresponding to each type of clustering data in a clustering result, and further determining acontroller corresponding to each theoretical dynamics model; and then, during navigation of the high-speed unmanned surface vehicle, switching a navigation speed controller of the high-speed unmannedsurface vehicle to a controller corresponding to the theoretical dynamical model which enables the performance switching index to be optimal according to the performance switching index updated in real time. The method can achieve the purpose of effectively improving the navigation speed control accuracy of the high-speed unmanned surface vehicle.

Description

technical field [0001] The invention relates to the field of unmanned boat motion control, in particular to a method and system for determining a speed controller of a high-speed unmanned boat based on multi-model switching. Background technique [0002] China has a vast ocean area and a long coastline. With the national exploration and mining, the activities of using marine resources are becoming more and more frequent, and the development of high-speed unmanned boat technology is becoming more and more important. Good control performance is the basis for high-speed unmanned boats to be put into practical applications, and precise control of speed is a very important part. The speed control of high-speed unmanned boats is affected by factors such as wind, waves and currents in the ocean environment, and the traditional PID control method is usually not effective. With the development and improvement of intelligent control theory, more control methods with excellent perfor...

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Problems solved by technology

[0004] After the speed of the high-speed unmanned boat increases to a certain level, the hull posture of the entire high-speed unmanned boat begins to change, the bow gradually tilts up, and the high-speed water flow will give the high-speed unmanned boat a new lift. The hydrodynamic factors present strong nonlinear interference, which makes these speed controllers not effective when the high-speed unmanned boat is running at high speed

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