Unmanned ship path tracking control method based on internal model control and genetic algorithm

A genetic algorithm and path tracking technology, applied in the field of unmanned ship path tracking control based on internal model control and genetic algorithm, can solve problems such as poor timeliness, unfavorable control effect, unfavorable engineering application, etc.

Active Publication Date: 2020-10-27
SHANGHAI OCEAN UNIV
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Problems solved by technology

[0005] (1) Existing path tracking schemes rely on accurate ship models. When there are model errors and large heading and track errors caused by external environmental disturbances, the ship cannot adaptively adjust the motion state, resulting in control effects that are not as

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  • Unmanned ship path tracking control method based on internal model control and genetic algorithm
  • Unmanned ship path tracking control method based on internal model control and genetic algorithm
  • Unmanned ship path tracking control method based on internal model control and genetic algorithm

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Embodiment Construction

[0089] The following describes the embodiments of the present invention in detail with reference to the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation and specific operation procedures, but the protection scope of the present invention is not limited to the following Mentioned examples.

[0090] Such as figure 1 As shown, the unmanned ship first obtains the coordinate point information of the desired path, combined with the current position information of the unmanned ship, outputs the ideal heading angle of the unmanned ship through the improved LOS guidance law, and uses the heading angle as the internal model controller enter. At the same time, genetic algorithm is used to combine the current lateral error and heading error to optimize the parameters of the internal model controller. Finally, the internal model controller outputs the deflection angle of the unmanned...

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Abstract

The invention discloses an internal model control and genetic algorithm-based unmanned ship path tracking control method. The method comprises the following steps of S1, establishing an unmanned shipmotion mathematical model; S2, an improved LOS guidance law is designed, and the forward-looking distance is adjusted in a self-adaptive mode by establishing a nonlinear relation between the steeringradius and the transverse deviation of the unmanned ship; S3, designing an internal model controller according to the mathematical model of the unmanned ship; and S4, performing global optimization onthe controller parameters by adopting a genetic algorithm. According to the method, the self-adaptive adjustment capability of the unmanned ship in the moving process can be enhanced, model errors can be eliminated to a certain extent, so the path tracking controller is more stable, and parameters of the controller are flexibly adjusted, so the unmanned ship obtains better dynamic performance inactual motion.

Description

Technical field [0001] The invention relates to the technical field of path tracking, in particular to an unmanned ship path tracking control method based on internal model control and genetic algorithm. Background technique [0002] The unmanned ship is an intelligent, automated, and unmanned surface operation platform, which is widely used in military combat reconnaissance, large water area monitoring, and marine resource exploration. Motion control technology is a key part of unmanned ship's autonomous operation in water environment, and it is also a hot issue in the field of unmanned ship research. The research content mainly includes speed and heading control, trajectory tracking control, path tracking control, etc. The scheme of the present invention mainly designs the content of the path tracking control of the unmanned ship. [0003] In actual navigation, the unmanned ship's motion state is not only affected by the instability of its own system, but also interfered by fac...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04
CPCG05D1/0206G05B13/042G05D1/0088
Inventor 杨琛蒋鑫胡佳伟
Owner SHANGHAI OCEAN UNIV
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