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针对欠驱动水面船舶在模型参数不确定和未知风浪流扰动情况下的路径跟踪问题,提出一种改进的动态虚拟小船(dynamical virtual ship,DVS)制导算法,并采用指令滤波反推法设计模型运动学回路的前进速度和艏摇角速度的虚拟控制律,进而将船舶路径跟踪问题转化为前进速度误差和艏摇角速度误差的镇定问题,在模型动力学回路上采用PI积分滑模控制方法设计实际控制律.该控制策略能够减少和避免因对虚拟控制律求导而造成的计算负担和高频噪声对系统的影响,且对模型参数不确定和未知扰动具有鲁棒性.仿真实验表明,该控制策略可实现船舶在模型参数不确定和未知风浪流扰动下对规划路径的精确跟踪.
Aiming at the problem of path tracking for under-actuated ships with unknown model parameters and unknown wind-induced disturbances, an improved dynamic virtual ship (DVS) guidance algorithm is proposed and the model motion And the virtual control law of learning speed and swaying speed, and then the problem of ship path tracking is transformed into the stabilization problem of forward speed error and swaying speed error. The PI integral sliding mode control method is used to design the actual control The control strategy can reduce and avoid the influence of computational burden and high frequency noise caused by the derivation of the virtual control law on the system and is robust to the uncertainty of the model parameters and the unknown disturbance.The simulation results show that the control The strategy can accurately track the planned path of the ship under uncertainties of model parameters and unknown disturbance of wind and waves.