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Unmanned ship track tracking control method based on sliding mode control and control distribution

A track tracking and control distribution technology is applied in the track tracking control field of unmanned boats to achieve the effects of reducing track tracking errors, ensuring stability, and improving track tracking control performance.

Pending Publication Date: 2021-10-01
ZHEJIANG UNIV
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Problems solved by technology

[0003] In view of this, the main purpose of the present invention is to provide a track tracking control method for the dual water-jet propulsion type vector-driven unmanned boat, to overcome the above-mentioned defects of the existing unmanned boat track tracking control technology

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  • Unmanned ship track tracking control method based on sliding mode control and control distribution

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail with reference to the accompanying drawings. This description presents, by way of illustration and not limitation, specific embodiments consistent with the principles of the invention in sufficient detail to enable those skilled in the art to practice the invention without departing from this disclosure. Other embodiments may be utilized and the structure of elements may be changed and / or substituted within the scope and spirit of the invention. Accordingly, the following detailed description should not be read in a limiting sense.

[0028] figure 1 It is a schematic diagram of the track tracking motion model of the unmanned vehicle. A track tracking control method for unmanned boats based on sliding mode control and control distribution proposed by the present invention can generate control instructions according t...

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Abstract

The invention provides an unmanned ship track tracking control method based on sliding mode control and control distribution for a dual-water-jet propulsion type vector driving unmanned ship. The method comprises the following steps: step 100, establishing an unmanned ship nonlinear dynamic model; step 200, designing an unmanned ship track tracking controller based on a sliding mode control principle; and step 300, designing a control distributor, and converting the expected control force and the torque vector output by the sliding mode controller into the control quantity of a bottom layer execution mechanism. According to the method, an effective control scheme can be provided for the dual-water-jet propulsion type vector-driven unmanned ship, and the challenges of high-precision track tracking and high-efficiency bottom-layer control quantity distribution of the vector-driven unmanned ship are solved; and according to the control method provided by the invention, the stability of the control system is ensured, the track tracking error of the unmanned ship is reduced, and the track tracking control performance of the dual-water-jet propulsion type vector-driven unmanned ship is improved.

Description

technical field [0001] The invention belongs to the field of track tracking control of unmanned boats, and in particular relates to a track tracking control method for double water-jet propulsion type vector-driven unmanned boats. Background technique [0002] In recent years, in order to meet the needs of more precise operations, the drive system of unmanned boats has increasingly adopted vector propulsion systems. The motion control methods of vector-driven unmanned boats currently used are mostly improved from the design and improvement of the operator's driving experience. For some complex and precise motion control, it is difficult to fully meet the requirements. Moreover, the actuators of vector-driven unmanned boats generally involve more control quantities. For the same control target, there may be multiple combinations of actuator control quantities corresponding to it. How to efficiently allocate the actuator control quantities to achieve the target control The ef...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 罗珍雄吕小文聂勇李贞辉孙向伟唐建中陈正
Owner ZHEJIANG UNIV
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