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无人水面艇航向航速协同控制方法

曹诗杰 曾凡明 陈于涛

曹诗杰, 曾凡明, 陈于涛. 无人水面艇航向航速协同控制方法[J]. 中国舰船研究, 2015, 10(6): 74-80. doi: 10.3969/j.issn.1673-3185.2015.06.011
引用本文: 曹诗杰, 曾凡明, 陈于涛. 无人水面艇航向航速协同控制方法[J]. 中国舰船研究, 2015, 10(6): 74-80. doi: 10.3969/j.issn.1673-3185.2015.06.011
CAO Shijie, ZENG Fanming, CHEN Yutao. The course and speed cooperative control method for unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2015, 10(6): 74-80. doi: 10.3969/j.issn.1673-3185.2015.06.011
Citation: CAO Shijie, ZENG Fanming, CHEN Yutao. The course and speed cooperative control method for unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2015, 10(6): 74-80. doi: 10.3969/j.issn.1673-3185.2015.06.011

无人水面艇航向航速协同控制方法

doi: 10.3969/j.issn.1673-3185.2015.06.011
基金项目: 中国博士后科学基金资助项目(201150M1547);湖北省自然科学基金资助项目(2013CFB440)
详细信息
    作者简介:

    曹诗杰,男,1991年生,硕士生。研究方向:舰船动力装置总体设计、分析与优化。E-mail:975526435@qq.com

    通信作者:

    曾凡明,男,1962年生,博士,教授,博士生导师。研究方向:舰船动力装置总体设计、分析与优化

  • 中图分类号: U664.82

The course and speed cooperative control method for unmanned surface vehicles

  • 摘要: 针对无人水面艇(USV)在未知干扰环境下的自主运动控制问题,研究基于模糊自适应算法的USV航向、航速协同控制方法。设计以航向角偏差量和直线距离偏差量为输入量,以及以舵角偏转控制量和油门开度控制量为输出量的模糊控制算法,并通过以航向角偏差率为输入量及以控制周期为输出量的自适应控制,使系统响应外部环境的变化。以抵达目标点的时间和舵角变化次数的加权最小值作为优化目标函数,分析论域、控制周期等参数对控制效果的影响。优化分析的结果表明:此方法在不同海面风、浪、流随机干扰的条件下,均能使无人艇抵达目标点,实现点对点的自主航行。
  • YAN R J,PANG S,SUN H B,et al. Development and missions of unmanned surface vehicle[J]. Journal of Marine Science and Application,2010,9(4): 451-457.
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    JIA H M,ZHANG L J,BIAN X Q,et al. A nonlinear bottom-following controller for underactuated autono-mous underwater vehicles[J]. Journal of Central South University,2012,19(5):1240-1248.
    孙巧梅. 无人艇建模及逻辑网络自适应控制方法的 研究[D]. 大连:大连海事大学,2013.
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  • 被引次数: 0
出版历程
  • 收稿日期:  2015-05-05
  • 刊出日期:  2015-11-20

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