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对自主水下航行器(AUV)在执行水下搜救任务过程中遇到的三维路径跟踪控制和定点驻停问题进行研究。在固定坐标系和机体坐标系下建立AUV的运动学模型,引入流体坐标系,设计适宜进行运动控制的三维路径跟踪控制器,并在Serret-Frenet坐标系下建立AUV的路径跟踪误差模型;基于三维视距制导律控制设计AUV的三维路径跟踪控制器,在此基础上提出一种适于水下搜救工况的AUV路径跟踪控制方法,使AUV能完成对参数化路径的跟踪和在预设目标点的驻停;同时,基于李雅普诺夫稳定性原理证明该控制器的稳定性。仿真试验结果表明,设计的控制器有效,能实现对面向水下搜救的AUV路径跟踪控制。 相似文献
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[Objectives ] This paper studies a three-dimensional (3D) cooperative path-following control problem in the process of maritime search and rescue for a heterogeneous unmanned cluster system composed of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs).[Methods ] First, kinematic models of the UAVs and USVs are established under a fixed coordinate system and body coordinate system. In order to design a 3D path-following controller suitable for motion control, an air coordinate system is established, and the path tracking error models of the UAVs and USVs are established in the Serret-Frenet coordinate system. Next, a 3D line-of-sight (LOS) guidance law is designed at the kinematic level, and a cooperative path-following control method suitable for heterogeneous clusters of marine vehicles is proposed, allowing the UAVs and USVs to track the preset parameterized path. Finally, the stability of the control system is analyzed based on the Lyapunov stability theory.[Results]The simulation results verify the effectiveness of the proposed cooperative path-following control method for heterogeneous clusters of marine vehicles.[Conclusions]The results of this study can provide references for maritime search and rescue by using the proposed cooperative path-following control method. © 2022 Journal of Clinical Hepatology. All rights reserved. 相似文献
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建立废气透平机、调速器、同步发电机、励磁系统以及负载的数学模型,提出适用于废气透平机调速系统的前馈PID控制策略。在MATLAB/Simulink环境下,建立各个系统的仿真模型并整合成废气透平发电机组的整体模型,并对整体机组模型进行仿真。结果表明,前馈与PID相结合的控制方式可有效改善同步发电机频率调整的动态特性。系统在突加、突减负荷条件下,满足《钢质海船入级规范2015》中对发电机调速的要求,同时也在实船测试数据的范围内,从而可以证明所建数学模型的正确性。最后,通过SUPERSIMS仿真平台和Visual C++可视化编程,研制出船舶透平发电机系统仿真器,并应用于学员训练与实际教学中。 相似文献
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