无人帆船循迹航行的控制研究  

Research on Track Following Control of Autonomous Sailboat

作　　者：王倩[1] 许劲松[1] 徐建云[1] 

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200030

出　　处：《船舶工程》2015年第9期63-67,共5页Ship Engineering

基　　金：海洋工程国家重点实验室自由研究课题(GKZD010059)

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。A track following controller for the autonomous sailboat was developed and applied to a 1.5m sailboat experiment. 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.

关 键 词：无人帆船 循迹航行 模糊控制 帆艇航行测试 

分 类 号：U661.31[交通运输工程—船舶及航道工程] U674.926[交通运输工程—船舶与海洋工程]