摘要
路径跟踪是无人水面艇执行任务的关键技术之一。流干扰是不可避免的环境因素,无人水面艇在流干扰下直线路径跟踪的研究,旨在提高流干扰下无人水面艇路径跟踪控制算法的抗干扰能力。在建立流干扰下无人水面艇数学模型的基础上,分析了直线路径跟踪原理并设计跟踪控制器,对增量式PID、模糊PID以及可变船长比模糊PD三种控制算法进行仿真分析,进行了三种算法对于定常流的抗干扰对比,得出最佳的控制算法。为减小横流作用对无人水面艇路径跟踪的影响,采用修正期望航向角的方法,对可变船长比模糊PD控制算法进行改进,并通过仿真进行对比分析。结果表明,改进的方法可进一步提高抵抗流干扰的性能。
Path following is one of the key technologies for Unmanned Surface Vehicle （USV） to complete mis- sion. The interference of flow is an inevitable environmental factor, the study on the straight path following of USV is aimed at enhancing the anti - interference ability of the path following control algorithm under the disturbance of flow. Based on the mathematical model of motion considering the influence of flow, the paper analyzed the principle of straight path following and designed the tracking controller. Simulation and analysis were carried out with three kinds of control algorithms for incremental PID, fuzzy PID and the variable ship length rate fuzzy PD. For the sake of get- ting the best control algorithm, the comparison of anti - interference ability was carried out among the three algorithms under constant current. In order to reduce the influence of cross flow on the path following of USV, the method of de- siring heading angle correction was used to improve the control algorithm of the variable ship length rate fuzzy PD. In addition, the simulation results were compared and analyzed. The results suggest that the improved method can fur- ther enhance the performance of anti - interference.
出处
《计算机仿真》
CSCD
北大核心
2016年第6期362-367,共6页
Computer Simulation
基金
国家自然科学基金项目(51309148)
上海海事大学研究生创新基金资助项目(YXR2015022)
关键词
无人水面艇
定常流
直线路径
跟踪
可变船长比
USV
Constant current
Straight path
Following
Variable ship length rate
