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为了解决无人水面航行器(USV)受外界干扰大且航向控制模型参数未知等航向控制中的相关难题,提出基于多辨识模型切换的动态反馈控制法.此控制法首先根据最小二乘法对USV系统航向模型进行辨识,构建过渡模型集;然后通过预设平均拟合偏差阈值法筛选过渡模型集,构建临时模型集,以避免模型集中子模型过分庞大造成控制过程计算量大的问题;最后根据临时模型集构建动态反馈控制库.为了从控制库中获取“最佳”控制策略,提出以控制性能指标为事件驱动的多辨识模型切换策略.多次湖泊试验表明:基于多模型切换的动态反馈法实现了系统航向无超调、无静差运动,从而提高了USV系统控制品质.
In order to solve the problems related to the course control of unmanned surface vehicle (USV), such as large external disturbances and unknown parameters of the course control model, a dynamic feedback control method based on multi-recognition model switching is proposed. The control method firstly uses the least squares System transition model to identify the transition model set, and then through the default average fitting deviation threshold method to select the transition model set to build a temporary model set to avoid the model too large sub-model control process caused a large amount of calculation problems; Finally, according to In order to obtain “best ” control strategy from the control database, an event-driven multi-recognition model switching strategy with control performance indicators is proposed.Many lakes tests show that the model based on multi-model switching Dynamic feedback method to achieve the system heading no overshoot, no static movement, thereby enhancing the USV system control quality.