时变漂角下USV直线路径跟踪控制器设计与验证

为了解决"蓝信"号无人水面艇在真实海洋环境中的直线路径跟踪的精确控制问题,在考虑到实际航行中存在时变漂角的情况下,设计并验证了一种基于LOS制导算法的无人水面艇直线路径跟踪控制方法。以"蓝信"号无人水面艇的操纵运动模型及辨识的参数为基础,将LOS制导算法与模糊自适应PID航向跟踪控制相结合,设计了一种考虑时变漂角的无人水面艇直线路径跟踪控制器,仿真结果验证了该方法的可行性。最后,通过蓝信号无人水面艇在大连海事大学凌水校区外部海域的实船实验,验证了该方法应用在实际工程中的正确性和有效性,降低了真实海洋环境下实际航迹跟踪过程中时变漂角对航迹跟踪控制精度的影响。

Design and verification of straight line path following controller for USV with time varying drift angle

In order to solve the problem of precise straight line path following control of "Lanxin" USV in real marine environment, considering the time varying drift angle, a straight line path following control method based on LOS guidance algorithm for USV is designed and verified. In this paper, based on the motion model and identification parameters of the USV, according to the experiment data from real ship test results, combining the LOS guidance algorithm and fuzzy self adaptive PID course tracking control method, a USV straight line path following controller considering time varying drift angle is designed. Simulation results verify the feasibility of the method. Finally, the real ship experiment results of the "Lanxin" USV in real marine environment of the sea region outside the Lingshui campus, Dalian Maritime University verify the correctness and effectiveness of the proposed method in real engineering application, and the proposed method decreases the influence of the time varying drift angle on tracking control accuracy in real marine environment.