共查询到18条相似文献,搜索用时 62 毫秒
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[目的]针对水面无人艇(USV)编队轨迹跟踪中存在的未知扰动和队形变化问题,提出一种基于有限时间扰动观测器的最优反步控制(FDO-OBC)方法。[方法]首先,基于虚拟结构法,建立无人艇编队控制框架,并设计运动学和动力学编队控制器;其次,设计有限时间扰动观测器,实时估计补偿未知环境扰动;然后,针对编队队形变化的轨迹跟踪问题,提出基于最优反步控制的动态轨迹优化策略,利用扰动观测器信息来计算最优控制输入,实现无人艇编队轨迹跟踪的动态优化;最后,采用李雅普诺夫稳定性理论证明该编队控制方法的稳定性。[结果]仿真对比结果表明,FDO-OBC策略可有效提高无人艇编队系统的精确性和鲁棒性。[结论]对于面向扰动环境下的无人艇编队控制系统设计,FDO-OBC方法提供了一种新的技术手段。 相似文献
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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。 相似文献
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基于总线的多任务无人水面艇分布式控制平台设计 总被引:1,自引:1,他引:0
相比有人驾驶船舶,无人水面艇因其具有低成本、高速度、高机动性以及高智能化等特性,特别是在危险情况下代替人工作业的应用实践,近年来已成为一个研究热点。本文首先分析了现有无人艇控制系统方案及存在的问题,进而提出了一种基于总线的分布式控制平台设计方案。然后详细分析了智能终端、主控单元的设计方案。结合实际项目应用进行了系统测试,试验数据表明本文提出的分布式控制平台设计方案可行,通过自主研制的智能终端可稳定、可靠地实现多传感器数据的分布式采集、处理以及共享,分布式结构保证系统可方便地搭载或变更任务模块。 相似文献
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An unmanned automated boat equipped with an acoustic Doppler current profiler was used in field surveys at a tidal inlet, the Southwest Pass of Vermillion Bay, Louisiana on Sept 6 and Oct 6, 2007. During the first survey, under calm weather conditions, a small scale eddy with a diameter of 300 m was discovered with strong upwelling and downwelling zones. A detailed analysis of this small eddy shows that the eddy's velocity field is relatively uniform in the vertical and the eddy is formed by a flow convergence, tidal velocity shear induced relative vorticity, and the interaction between the horizontal flows and bathymetry. The major upwelling area is where an uphill flow occurs while the major downwelling area is where a downhill flow occurs. The vorticity of this eddy is on the order of 0.013 s? 1, which is two orders-of-magnitude larger than the planetary vorticity, and one-order-of magnitude larger than that in a typical tidal inlet without eddies. The Coriolis effect is thus insignificant and the generation of the eddy cannot be affected by the earth rotation. The maximum upwelling and downwelling velocities exceed 0.3 m/s. This high vertical velocity in a tidal inlet does not appear to have been reported before. The second survey, conducted under a thunder storm condition, did not reveal a similar eddy at the same location during roughly the same tidal phase. Though the measurements of 3-D flow structure under a thunder storm condition in a tidal channel does not appear to have been reported before, the second survey is of important value in providing support of the mechanism of the eddy formation during the first survey: the wind tends to produce downwind flow in shallow water than in deep water, producing a velocity shear counterproductive to the formation of the eddy. Therefore, the second survey under a thunder storm condition did not show an eddy. A scaling analysis of the non-hydrostatic flow shows that the uphill and downhill flows introduce a non-hydrostatic flow component proportional to the square of the bottom slope which leads to the conclusion that the non-hydrostatic flow component affects less than 10% of the vertical momentum balance. 相似文献
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