基于改进的视线导引算法与自抗扰航向控制器的无人艇航迹控制

Unmanned surface vehicle track control based on improved LOS and ADRC

    摘要
  • 摘要:
      目的  无人艇（USV）在复杂环境情况下会出现偏离目标航线的情况，为提高水面无人艇的抗干扰能力及实际航行的稳定性，实现对航迹的准确控制，提出一种改进的无人艇航迹控制方法。
      方法  根据导航信号受环境影响的情况，对GPS信号有效和无效2种情况下的航迹控制分别进行分析，在自主可控平台上设计并实现了基于模糊控制可变船长比的视线导引算法（LOS）和自抗扰航向控制器(ADRC)相结合的航迹控制方法，并开展了双桨双舵无人艇湖上试验。
      结果  仿真结果表明：该方法可满足航迹控制的要求，转弯后航向能够快速保持稳定，无频繁摆舵现象，且该方法能够完成真实环境下的航迹控制，航迹贴线误差均值约为0.1 m，方差约为0.03。
      结论  湖上试验结果验证了该算法在实际工程应用中的可行性和有效性。

     

    Abstract:
      Objectives  Under complex environmental conditions, unmanned surface vehicles (USVs) may deviate from the target course. In order to improve the anti-jamming ability and actual navigation stability, and achieve accurate track control, an improved USV track control method is proposed.
      Methods  According to the influence on navigation signals caused by the environment, track control is analyzed in two cases of GPS signal: effective and invalid. A track control method based on a fuzzy control variable ship length ratio line-of-sight (LOS) algorithm and active disturbance rejection control (ADRC) algorithm is then realized on an autonomous controllable platform, and a lake test is carried out using a USV with dual propellers and dual rudders.
      Results  The simulation results show that this method can meet the requirements of track control, and the heading can be stabilized quickly without frequent rudder swinging after turning. The proposed method can complete track control in real environments with an average track error of about 0.1 m and variance of about 0.03.
      Conclusions  The lake test results verify the feasibility and effectiveness of the proposed algorithm in practical engineering applications.

     

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