无人水面艇航向航速协同控制方法

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。

The course and speed cooperative control method for unmanned surface vehicles

In order to solve the problem of autonomous dynamic control for unmanned surface vehicles (USV) under unknown conditions, a course and speed cooperative control method based on the adaptive fuzzy algorithm is studied in this paper. The fuzzy control algorithm is designed as to the inputs are the devi-ation of course and position, and the outputs are the rudder angle and throttle. The self-adaptive control method is applied, of which the input is the deviation rate of course and the output is the control cycle, to make the system effectively response to external changes. The objective function of the optimization is the weighted minimum of the arrival time and the changing frequency of rudder. The specific effects of the pa-rameters, like domains and the control cycle, are analyzed. The results of optimization analysis show that the method enables the USV to successfully reach the target point in random disturbance conditions with different wind, current and wave, and to achieve the point to point autonomous voyage.