| 无人帆船循迹航行的控制研究 |
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| 引用本文： | 王倩,许劲松,徐建云. 无人帆船循迹航行的控制研究[J]. 船舶工程, 2015, 37(9): 63-67 |
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| 作者姓名： | 王倩 许劲松 徐建云 |
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| 作者单位： | 上海交通大学船舶与海洋工程系,上海交通大学船舶与海洋工程系,上海交通大学船舶与海洋工程系 |
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| 基金项目： | 海洋工程国家重点实验室自由研究课题（GKZD010059） |
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| 摘 要： | 提出一种适用于无人帆船循迹航行的控制器,并应用于一条1.5m长风帆艇的湖上航行测试。该控制器包含三个独立模块,局部路径策略模块决定帆艇的转向过程;帆自动控制模块根据帆位角和相对风向角的对应关系获取最佳推进力;舵自动控制模块基于从航海经验中提炼的245条模糊控制规则实现航迹调整。1.5m帆艇的湖上测试结果表明,该控制器在多种风场条件下都可有效完成帆艇的循迹航行,具有在无人帆船上实现长程航行的应用前景。
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| 关 键 词： | 无人帆船 循迹航行 模糊控制 帆艇航行测试 |
| 收稿时间： | 2015-04-30 |
| 修稿时间： | 2015-09-21 |
Track Following Control of Sailboat |
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| Affiliation: | State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University,State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University,State Key laboratory of Ocean Engineering,Shanghai Jiao Tong University |
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| Abstract: | A track following controller for the autonomous sailboat was developed and applied to a 1.5m sailboat experiments. There are three modules inside the controller. The module of Local Path Strategy determines the turning process along the specified track. The module of Sail Automatic Control employs the relationship between the sail angle and the apparent wind to achieve the optimal wind drive. The module of Rudder Automatic Control is based on 245 fuzzy logic rules summarized from the general steering experiences. The autonomous sailing experiments of a 1.5m sailboat on the lake demonstrate the effectiveness of track following controller in various wind conditions. It has potential for actual application in long-range autonomous sailing. |
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| Keywords: | autonomous sailboat track following control fuzzy logic control sailboat experiments |
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