基于有限时间引导律的欠驱智能船舶循迹控制

冯辉; 胡胜; 余文曌; 徐海祥

doi:10.13700/j.bh.1001-5965.2020.0561

基于有限时间引导律的欠驱智能船舶循迹控制

doi: 10.13700/j.bh.1001-5965.2020.0561

冯辉^{1, 2},
胡胜²,
余文曌^{1, 2, ,},
徐海祥^{1, 2}

1.
高性能船舶技术教育部重点实验室, 武汉 430063
2.
武汉理工大学船海与能源动力工程学院，武汉 430063

基金项目:

国家自然科学基金 51879210

国家自然科学基金 51979210

中央高校基本科研业务费专项资金 2019Ⅲ040

中央高校基本科研业务费专项资金 2019Ⅲ132CG

详细信息

通讯作者:
余文曌, E-mail:wzyu@whut.edu.cn

中图分类号: TP273
计量
- 文章访问数: 500
- HTML全文浏览量: 73
- PDF下载量: 60
- 被引次数: 0
出版历程
- 收稿日期: 2020-09-29
- 录用日期: 2021-03-05
- 网络出版日期: 2022-03-20

Finite-time line-of-sight guidance law path following control for underactuated intelligent ships

FENG Hui^{1, 2},
HU Sheng²,
YU Wenzhao^{1, 2
, ,},
XU Haixiang^{1, 2}

1.
Key Laboratory of High Performance Ship Technology, Ministry of Education, Wuhan 430063, China
2.
School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China

Funds:

National Natural Science Foundation of China 51879210

National Natural Science Foundation of China 51979210

the Fundamental Research Funds for the Central Universities 2019Ⅲ040

the Fundamental Research Funds for the Central Universities 2019Ⅲ132CG

More Information

Corresponding author: YU Wenzhao, E-mail:wzyu@whut.edu.cn

摘要

摘要:
针对欠驱智能船舶在执行循迹任务时，受路径曲率和环境力干扰影响导致横向偏差增大的问题，对欠驱智能船舶的引导策略进行了研究。提出了一种有限时间收敛的自适应引导律，并基于该引导律实现了欠驱智能船舶循迹控制，使循迹过程中的横向偏差在有限时间内收敛至零。相比于传统积分引导律，所提方法的控制参数可以根据横向偏差的变化进行自适应调整，更快地引导欠驱智能船舶进行直线和曲线循迹。通过仿真对比验证了所提方法的有效性和先进性。
- 循迹控制 /
- 欠驱智能船舶 /
- 有限时间引导律 /
- 自适应控制 /
- 横向偏差
Abstract:
In consideration of the problem that the lateral deviation of the underactuated intelligent ships increases due to the influence of path curvature and environmental disturbance during the path tracking task, the guidance law of intelligent ships is discussed. An adaptive guidance law with finite-time convergence is proposed. Based on the guidance law, the intelligent ships path following control is realized, so that the lateral deviation can converge to zero in finite time in the path following process. Compared with the traditional integral line-of-sight, the control parameters of the method can be adjusted adaptively according to the change of lateral deviation, and the intelligent ships can be guided to follow the desired line or curve path faster. The effectiveness and advancement of the proposed method are verified by simulation and comparison.
- path following control /
- underactuated intelligent ships /
- finite-time guidance law /
- adaptive control /
- cross-track error

HTML全文

图 1 LOS引导律原理

Figure 1. Geometrical illustration of LOS guidance law

下载: 全尺寸图片幻灯片

图 2 直线循迹曲线

Figure 2. Curves of straight-line path following

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图 3 直线循迹横向偏差曲线

Figure 3. Curves of straight-line path following cross-track error

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图 4 直线循迹引导律比例系数变化曲线

Figure 4. Curve of straight-line path following guidance law proportional coefficient

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图 5 直线循迹艏向角变化曲线

Figure 5. Curves of straight-line path following heading angle

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图 6 曲线循迹曲线

Figure 6. Curves of curved-line path following

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图 7 曲线循迹横向偏差曲线

Figure 7. Curves of curved-line path following cross-track error

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图 8 曲线循迹引导律比例系数变化曲线

Figure 8. Curve of curved-line path following guidance law proportional coefficient

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图 9 曲线循迹艏向角变化曲线

Figure 9. Curves of curved-line path following heading angle

下载: 全尺寸图片幻灯片

表 1 直线循迹仿真条件

Table 1. Simulation conditions of straight-line path following

参数	数值
初始位置	[10 m, -20 m, π/4]^T
海流合速度U_c	0.1 m/s
路径点坐标	(0 m, 0 m)，(100 m, 100 m)
采样周期	0.5 s
前向距离Δ	3.0 m
流向角	-π/4
期望纵向航速	0.3 m/s
船长	2.3 m

下载: 导出CSV

表 2 曲线循迹仿真条件

Table 2. Simulation conditions of curved-line path following

参数	数值
初始位置	[0 m, 0 m, 0 m]^T
路径点坐标	(0 m, 0 m), (6 m, 30 m), (30 m, 30 m), (30 m, 0 m), (60 m, 0 m)
海流合速度U_c	0.02 m/s
转弯圆弧半径	[6 m, 6 m, 6 m]^T
船长	2.3 m
前向距离Δ	1.15 m
期望纵向航速	0.1 m/s
流向角	π/4
采样周期	0.5 s

下载: 导出CSV

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