Control method, system and storage medium for ship path tracking
A technology of path tracking and control methods, applied in general control systems, control/regulation systems, controllers with specific characteristics, etc., can solve problems such as performance and control accuracy reduction, and large calculation costs
Active Publication Date: 2022-02-22
WUHAN UNIV OF TECH
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For model predictive control, it can provide a flexible framework for dealing with complex nonlinear system dynamics and system constraints, however, for a system containing complex high-order nonlinear terms, model predictive control is directly applied to the nonlinear system model Can be computationally expensive, and oversimplification can lead to loss of performance and control precision
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[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. For the step numbers in the following embodiments, it is only set for the convenience of illustration and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art sexual adjustment.
[0044] In the following description, references to "some embodiments" describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or a different subset of all possible embodiments, and Can be combined with each other without conflict.
[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein...
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The invention discloses a control method, system and storage medium for ship path tracking. The method includes: applying the PID control law to the ship controller and storing the first ship state and the first control input data; The motion model is discretized to obtain a linear prediction model; the first ship state and the first control input data are estimated by linear regression, and the ship estimation model is constructed by combining the regression variables; according to the first ship state, the first control input data, the linear The prediction model and the ship estimation model are calculated to obtain a linear time-varying prediction model of the ship; the model predictive control law is applied to the linear time-varying prediction model and the second ship state and the second control input data are stored; the control is calculated according to the above ship state and control input data sequence and update the ship path control status. The present invention reduces calculation amount under the condition of improving ship path tracking precision. The invention can be applied to the technical field of ship control.
Description
technical field [0001] The invention relates to the technical field of ship control, in particular to a control method, system and storage medium for ship path tracking. Background technique [0002] At present, most cargo ships are under-actuated, and are equipped with propellers and rudders to perform surge and roll motions. However, since the current fluid mechanics related to ship motion is nonlinear, there is no corresponding actuator to directly control roll. motion, making it difficult to achieve precise ship path-following control. Among them, path-following control aims to constrain the motion of an object to a specified path in space without temporal parameterization. For model predictive control, it can provide a flexible framework for dealing with complex nonlinear system dynamics and system constraints, however, for a system containing complex high-order nonlinear terms, model predictive control is directly applied to the nonlinear system model Can be computat...
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IPC IPC(8): G05B13/04G05B11/42
CPCG05B13/042G05B11/42
Inventor 刘佳仑张培李诗杰
Owner WUHAN UNIV OF TECH