基于改进型ADRC算法的无人水面侦察艇轨迹跟踪  

Trajectory Tracking of Unmanned Surface Reconnaissance Vessel Based on Improved ADRC Algorithm

作　　者：王晓慧[1] 黄刚[1] 丁洁 岳光 潘玉田[4] WANG Xiao-hui;HUANG Gang;DING Jie;YUE Guang;PAN Yu-tian(Department of Electronic Engineering,Taiyuan Institute of Technology,Taiyuan 030008,China;College of Elec-trical Power Engineering,Taiyuan University of Technology,Taiyuan 030024,China;Department of Automation,Taiyuan Institute of Technology,Taiyuan 030008,China;Collaborative Research Institute of Civil Military Integration,North Uni-versity of China,Taiyuan 030051,China)

机构地区：[1]太原工业学院电子工程系,山西太原030008 [2]太原理工大学电气与动力工程学院,山西太原030024 [3]太原工业学院自动化系,山西太原030008 [4]中北大学军民融合协同创新研究院,山西太原030051

出　　处：《水下无人系统学报》2021年第3期286-292,共7页Journal of Unmanned Undersea Systems

基　　金：国家自然基金(51275489);山西高等学校科技创新项目(2020L0673)。

摘　　要：针对当前无人水面侦察艇在面临复杂水域环境下出现的反应迟钝、稳定性欠佳以及参数调节繁杂等问题,提出一种基于改进型自抗干扰控制(ADRC)算法的无人水面侦察艇轨迹跟踪方法。通过研究其控制系统,构建改进型ADRC控制器构架,并在ADRC算法中引入遗传变异结合粒子群优化的策略,对ADRC控制器各参数进行初值初始化及全局参数寻优。仿真和实验结果对比可知,文中方法与传统算法相比具有响应速度快、超调量小、误差低、轨迹跟踪精确度高等优势,运用该算法的无人水面侦察艇在复杂水域环境下的轨迹跟踪效果良好,行驶平稳。To solve the problems of slow response,poor stability,and complex parameter adjustment of current unmanned surface reconnaissance vessels in complex water environments,a trajectory-tracking method for unmanned surface reconnaissance vessels based on the improved active disturbance rejection control(ADRC)algorithm.By studying the control system of an unmanned surface reconnaissance vessel,an improved ADRC controller architecture is constructed.Then,genetic mutation and particle swarm optimization are introduced into the algorithm to initialize the parameters of ADRC and optimize global parameters.Compared with the traditional algorithm,the proposed method has the advantages of fast response speed,small overshoot,low error,and high trajectory-tracking accuracy.It is verified that the improved ADRC algorithm has a good trajectory-tracking effect and runs smoothly in a complex water environment.

关 键 词：无人水面侦察艇 自抗干扰控制算法 轨迹跟踪 遗传算法 粒子群优化 

分 类 号：TJ630[兵器科学与技术—武器系统与运用工程] U664.82[交通运输工程—船舶及航道工程]