Unmanned ship path tracking control method based on combination of improved LOS guidance law and fuzzy PID

A technology of path tracking and control methods, applied in controllers with specific characteristics, two-dimensional position/course control, vehicle position/route/altitude control, etc., can solve problems such as low engineering practicability and complex controller design , to achieve the effect of improving path tracking accuracy, improving rapidity and stability, and good robustness

Inactive Publication Date: 2020-08-07
CHINA UNIV OF PETROLEUM (EAST CHINA)
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Problems solved by technology

However, this kind of method ignores the influence of speed on the path tracking control of unmanne

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  • Unmanned ship path tracking control method based on combination of improved LOS guidance law and fuzzy PID
  • Unmanned ship path tracking control method based on combination of improved LOS guidance law and fuzzy PID
  • Unmanned ship path tracking control method based on combination of improved LOS guidance law and fuzzy PID

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[0016] The invention discloses an unmanned ship path tracking control method combined with improved LOS guidance law and fuzzy PID, belonging to the field of unmanned ship motion control. The invention realizes the path tracking control of the unmanned ship by improving the LOS guidance law and designing the fuzzy PID controller. This method effectively reduces the influence of the speed on the path tracking control of the unmanned ship, improves the speed and accuracy of the path tracking of the unmanned ship, and lays the foundation for the autonomous and intelligent development of the unmanned ship.

[0017] In the following, by introducing the specific implementation steps of the present invention, a further detailed description will be made in conjunction with the accompanying drawings. According to the following description, the content, features, advantages and effects of the present invention will become clearer.

[0018] figure 1 It is the overall control principle b...

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Abstract

The invention discloses an unmanned ship path tracking control method, and belongs to the field of unmanned ship motion control. The invention provides a control method combining an improved LOS guidance law with fuzzy PID to realize unmanned ship path tracking control. An unmanned ship path tracking control system is divided into a guidance subsystem and a control subsystem. The guidance subsystem adopts an improved LOS guidance law, and a variable speed control law is added to a variable forward-looking distance LOS guidance law, so the guidance subsystem provides an expected course and an expected navigational speed at the same time, navigational speed self-tuning of the unmanned ship in the path tracking process is achieved, and the navigational speed influence is reduced. Consideringa complex and changeable marine environment, a control layer adopts fuzzy PID to design a course and speed controller, so the adaptability and robustness of the controller are improved, accurate tracking control of an expected course and an expected speed is realized, and the unmanned ship is ensured to be effectively kept on an expected path. According to the method, the influence of the navigation speed on unmanned ship path tracking control is effectively reduced, and the rapidity and accuracy of unmanned ship path tracking are improved.

Description

technical field [0001] The invention relates to the field of unmanned ship motion control, in particular to an unmanned ship path tracking control method with improved LOS guidance law combined with fuzzy PID. Background technique [0002] With the rapid development of unmanned ships, unmanned ships urgently need to improve the accuracy and speed of path tracking control to ensure their good maritime autonomous operation capabilities and navigation safety. However, the complex sea environment seriously affects the path tracking control effect of the unmanned ship. In addition, the unmanned ship control system has characteristics such as nonlinearity, model uncertainty, and input constraints, which also increase the difficulty of control to a certain extent. [0003] The existing control technology usually optimizes and improves the controller according to the environmental disturbance and the control characteristics of the unmanned ship itself, aiming to improve the robustne...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04G05B11/42
CPCG05D1/0206G05B13/042G05B11/42
Inventor 李立刚裴志远刘淑霞徐彬戴永寿
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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