无人水面艇航向跟踪控制器的设计与验证  

Design and validation of course tracking controller for unmanned surface vehicle

作　　者：范云生[1] 李长飞[1] 王国峰[1] 郭晨[1] 赵永生[1] 

机构地区：[1]大连海事大学信息科学技术学院,辽宁大连116026

出　　处：《大连海事大学学报》2017年第1期1-7,共7页Journal of Dalian Maritime University

基　　金：国家自然科学基金资助项目(61374114);辽宁省自然科学基金资助项目(2015020022);中央高校基本科研业务费专项基金资助项目(3132016311;3132016312;3132016022)

摘　　要：为解决"蓝信"号无人水面艇的航向跟踪控制问题,设计并实现了一种基于模糊自适应PID的无人水面艇航向跟踪控制器.首先,建立"蓝信"号无人水面艇的数学模型,利用实船操纵数据对其参数进行辨识;其次,在辨识的USV模型基础上,设计一种模糊自适应PID航向跟踪控制器并在干扰环境下进行仿真;最后,采用卡尔曼滤波算法对USV的姿态数据进行融合,设计并实现了"蓝信"号无人水面艇嵌入式航向跟踪控制系统的软硬件.实船验证结果表明,在实际的海洋环境干扰条件下,该航向跟踪控制器具有良好的动静态控制性能和抗干扰能力,可用于"蓝信"号无人水面艇精确和快速的航向跟踪控制.In order to solve the ‘Lan Xin＇unmanned surface vehicle（ USV） course tracking control problem,a course tracking controller was designed and implemented based on fuzzy self-adaptive PID algorithm. Firstly,the mathematical model of ‘Lan Xin＇USV was established,and its parameters were identified by using the real ship manipulate data. Secondly,a fuzzy self-adaptive PID course tracking controller was designed and simulated in the interference environment based on the identified USV model. Finally,unmanned surface vehicle＇s posture data were blended by using Kalman filtering algorithm. The hardware and software system were designed and implemented by using the embedded course tracking controller. The actual ship experiments results show that the course tracking controller has good dynamic and static control performance and anti-disturbance ability in the condition of actual marine environmental interference,which can be used for the USV＇s accurate and rapid course tracking control.

关 键 词：无人水面艇(USV) 航向跟踪 模糊自适应PID 卡尔曼滤波 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273.2[交通运输工程—船舶与海洋工程]