基于RBF-ARX模型的双体无人船航向控制  

Heading control of catamaran based on RBF-ARX model

作　　者：张伟栋 吴军[1] 尹仔强 郭宏佩 ZHANG Weidong;WU Jun;YIN Zaiqiang;GUO Hongpei(School of Electrical&Information Engineering,Changsha University of Science and Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学电气与信息工程学院,长沙410114

出　　处：《兵器装备工程学报》2023年第11期133-144,共12页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61403045,61773402,61540037,61971071)。

摘　　要：为了提高双体船的机动性能,设计了一种等效舵方案。在此基础上,针对船舶机理建模方法较为复杂及运动过程中存在的非线性问题,利用RBF-ARX模型来描述舵角与航向角之间的关系,建立以RBF-ARX模型为基础的无人船模型,与ARX模型在一步预测和长期预测方面进行比较,根据结果选择较优模型。以较优模型为基础,设计LQR航向控制器。实验结果表明,在有无风扰动的情况下,基于RBF-ARX模型的LQR方法均能实现航向保持控制,验证了双体船RBF-ARX模型LQR航向保持控制方法的有效性和可行性。In order to improve the maneuverability of the catamaran,an equivalent rudder scheme is designed.On this basis,aiming at the complexity of the ship mechanism modeling method and the nonlinear problems existing in the motion process,the RBF-ARX model is used to describe the relationship between the rudder angle and the heading angle,and the catamaran model based on the RBF-ARX model is established.Compared with the ARX model in one step prediction and long-term prediction,the better model is selected according to the results.LQR course-keeping controller is designed based on the optimal model.The simulation and real-time control results show that the LQR method based on RBF-ARX model can realize the course keeping control with or without wind disturbance,which verifies the effectiveness and feasibility of the RBF-ARX model LQR course keeping control method for catamaran.

关 键 词：双体无人船 径向基函数 神经网络 自回归模型 线性二次型调节器 航向保持控制 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]