基于模型预测的小型无人艇控制算法设计与试验  

Model Prediction based Control Algorithm Design and Experiment of a Small Unmanned Boat

作　　者：高炳[1,2] 张少明 陈沛豪[1] 陈平 王磊 Gao Bing;Zhang Shaoming;Chen Peihao;Chen Ping;Wang Lei(Guangdong Communication Polytechnic,Guangzhou 510800,China;Guangdong Ship Automation Engineering Technology Research Center,Guangzhou 510800;State Key Laboratory of Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]广东交通职业技术学院,广东广州510800 [2]广东省船舶自动化工程技术研究中心,广东广州510800 [3]上海交通大学海洋工程国家重点实验室,上海200240

出　　处：《船电技术》2020年第12期4-7,共4页Marine Electric & Electronic Engineering

基　　金：国家自然科学基金(51779062);广东省普通高校特色创新类科研项目(2019GKTSCX034);广东省高等院校学科科研类项目(GCZX-B1304)。

摘　　要：为实现船舶智能技术的实际应用和市场化,本文分析了主要智能船舶控制集成关键技术,介绍了研发的FURONG小型无人艇情况,包括框架设计与实现、无人船艇姿态预测方法与控制模型、自主航行算法等,实船模型航行测试验证了船舶行驶过程中船位数据的控制精度,系统运行可靠,手动控制与基本自助航行等都达到目标要求。In order to realize the practical application and marketization of ship intelligent technology,many key technical problems need to be broken through.In this paper,taking the development of FURONG small UAV as an examle,the design and implementation,the attitude prediction method and control model of UAV,autonomous navigation algorithm are introduced.The navigation test of real ship model has verified the control accuracy of ship position data in the course of ship running.the system can runs reliably,and the manual control and basic self-help navigation can meet the target requirements.

关 键 词：智能船舶 无人艇 自主航行 控制算法 

分 类 号：U698[交通运输工程—港口、海岸及近海工程]