Water surface unmanned ship path tracking method based on intelligent predictive control

A path tracking and intelligent prediction technology, applied in non-electric variable control, control/regulation systems, two-dimensional position/channel control, etc. Avoid deviating from the target path, improve measurement accuracy, and smooth the effect of the curve

Pending Publication Date: 2022-01-04
JIANGSU UNIV OF SCI & TECH
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Problems solved by technology

[0005] Therefore, on the one hand, the uncertainty caused by the unknown disturbance caused by the change of wind, wave and current in the marine environment makes it difficult for some common control methods to achieve the...

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  • Water surface unmanned ship path tracking method based on intelligent predictive control
  • Water surface unmanned ship path tracking method based on intelligent predictive control
  • Water surface unmanned ship path tracking method based on intelligent predictive control

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Embodiment Construction

[0118] Specific embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0119] Such as figure 1 As shown, is the control system structure diagram of the unmanned ship. In the path tracking process of the unmanned ship, firstly, the attitude data is measured by the inertial navigation sensor, the data fusion algorithm is proposed, the threshold increment constraint is set, and the complementary filtering algorithm is improved. The heading angle is filtered; then, according to the position of the expected path point and the real-time position of the unmanned ship measured by Beidou, an adaptive line of sight method is proposed to calculate the optimal acceptance circle radius, and the expected heading angle of the unmanned ship is calculated. ; Then, under the condition of given speed, the error between the filter feedback value and the expected heading angle is used as the input of the model predictive controller; finally, a...

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Abstract

The invention discloses a water surface unmanned surface ship path tracking method based on intelligent predictive control, aiming at the influence of under-actuated performance and time-varying wind wave flow disturbance of an unmanned surface ship on the maneuverability of the unmanned surface ship. The method aims at solving the problems that during the power-on period, data deviation is large, and during high-speed navigation, data drifting occurs to the gyroscope. A data fusion algorithm is provided, a complementary filtering algorithm is improved by setting threshold increment constraint, and the navigation data precision is improved. The problems that an unmanned ship is prone to being interfered in a severe environment, a ship body shakes greatly, and steering is advanced or lagged when the unmanned ship enters a receiving circle are solved. The invention provides a self-adaptive sight line method, and the radius of a receiving circle is automatically adjusted, so that the unmanned ship has sufficient time to adjust the course, steers gently, and is prevented from deviating from a target path. The method aims at solving the problem that the solving precision is not high when a traditional objective function is used in a model prediction controller. The invention provides an improved artificial fish swarm algorithm for global optimization. And the anti-interference capability of the control system and the convergence speed of the algorithm are improved.

Description

technical field [0001] The invention relates to the technical field of surface unmanned ship path tracking, in particular to a method for surface unmanned ship path tracking based on intelligent predictive control. Background technique [0002] In recent years, maritime search and rescue tends to be intelligent. In most of my country's offshore waters, rivers, lakes, reservoirs, canals and other areas, manual search and rescue is almost still used; however, manual search and rescue has some disadvantages. For some areas with relatively harsh environments, rescuers have Personal safety issues seriously affect the rescue progress. The surface unmanned ship has a small hull, which is convenient for sailing in various waters. It is less constrained by the outside world and has very high flexibility. The operation of the unmanned ship is also very simple. Using Surface unmanned ships are equipped with life buoys and image transmission equipment to participate in search and rescue, ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 曾庆军翁昱戴晓强赵强
Owner JIANGSU UNIV OF SCI & TECH
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