基于IDLOS的水面无人艇路径跟踪控制技术研究  

Research on Path Tracking of Unmanned Surface Vehicles

作　　者：徐鹏飞[1] 骆佳成 丁延旭 程红霞 王汝鹏 XU Pengfei;LUO Jiacheng;DING Yanxu;CHENG Hongxia;WANG Rupeng(Institute of Marine Vehicle and Underwater Technology,Hohai University,Nanjing 210098,China)

机构地区：[1]河海大学海工装备与水下技术研究所,南京210098

出　　处：《中国造船》2020年第4期133-142,共10页Shipbuilding of China

摘　　要：操纵性约束和外界干扰导致水面无人艇难以精确、稳定跟踪期望轨迹。论文通过改进视线法得到带积分和微分项的制导律的控制器,同时加入预转向控制、速度优化控制,与视线制导相比显得更加合理。针对河海大学自主研制的DW-uBoat水面无人艇,设计了轨迹跟踪控制器并进行仿真试验。试验结果表明,基于改进视线法的控制器和PID的轨迹跟踪控制器与视线法相比,在控制误差、稳定性和抗干扰性等方面性能均有提升,能快速收敛到目标轨迹。Unmanned surface vehicles(USVs)are difficult to track their planning path accurately and stably,due to constraint of maneuverability and external disturbance.This paper proposes an improving LOS(line of sight)guidance law for USVs with integral and differential terms.The algorithm is more reasonable than traditional LOS by adding steering prediction and speed optimization.Effectiveness of the path tracking method is verified through the simulation of a DW-uBoat USV developed by Hohai University.The results show that the combined controller of the improved LOS and the PID has good performance in fast convergence with low control error,high stability and anti-interference.

关 键 词：水面无人艇(USV) 改进视线制导(IDLOS) 轨迹跟踪 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]