摘要
根据双桨单舵驱动水面无人艇的运动特点,针对正常驱动及单桨故障的状态,给出了一种基于增量式比例-积分-微分(proportion-integral-differential,PID)控制器和自抗扰控制算法的水面无人艇航行控制方案。该方法在双桨单舵正常状态下采用自抗扰控制方法,在故障状态下采用增量式PID方法获取平衡舵角,并配合自抗扰方法实现对水面无人艇航行控制。仿真结果表明:在风浪干扰情况下自抗扰控制方法较PID控制方法超调小、抗干扰能力更强。实艇水面测试结果表明:增量式PID与自抗扰相结合的控制方案在单侧螺旋桨出现故障情况下,能保持无人艇目标航向,且具有较好控制效果,能够满足双桨单舵驱动水面无人艇的航行控制要求。
A course controller that is based on incremental proportion-integral-differential(PID) controller and auto disturbance rejection control(ADRC) algorithm is presented for unmanned surface vessel with double propellers and a single rudder. The ADRC is applied when double propellers are working. The ADRC is combined with the incremental PID method when one propeller is in fault. Simulation results show that the ADRC has less overshoot and stronger anti-jamming ability than the PID in the case of wind and wave disturbance. Experimental results show that, in the case of failure of a single propeller on any sided, the ADRC together with the incremental PID can maintain the target course of the unmanned boat and has a good control effect.
作者
仲伟波
杨忠凯
温景松
冯友兵
黄祥宏
卢道华
ZHONG Weibo;YANG Zhongkai;WEN Jingsong;FENG Youbing;HUANG Xianghong;LU Daohua(School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212003,China;Maine Equipment Research Institute,Jiangsu University of Science and Technology,Zhenjiang 212003,China;School of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《中国造船》
EI
CSCD
北大核心
2020年第1期167-176,共10页
Shipbuilding of China
基金
国家重点研发计划“深海关键技术与装备”重点专项“船载无人潜水器收放系统”(2018YFC0309100)
江苏省重点研发计划-产业前瞻与共性关键技术(BE2016009-3)。
关键词
双桨单舵
航行控制
自抗扰控制器
PID
水面无人艇
double propeller with single rudder
heading control
auto-disturbance rejection control
PID
unmanned surface vessel
