考虑系统延时的无人船路径跟踪控制  

Path Tracking Control Algorithm of Unmanned Ship Considering System Delay

作　　者：陈昱衡 张海成[1] 邹伟生[1] 祁立波 徐道临[1] CHEN Yuheng;ZHANG Haicheng;ZOU Weisheng;QI Libo;XU Daolin(College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)

机构地区：[1]湖南大学机械与运载工程学院,长沙410082

出　　处：《中国造船》2023年第5期249-258,共10页Shipbuilding of China

基　　金：国家自然科学基金资助项目(52071138);湖南省科技重大专项(2020GK1020)。

摘　　要：针对无人船因控制系统延时而导致的路径跟踪性能退化,提出计及系统延时的路径跟踪控制策略,并设计了基于模型预测控制算法的双层路径跟踪控制器。基于线性模型预测控制算法,设计了USV运动学控制器,以此减小无人船路径跟踪偏差并得到期望速度。将系统延时处理为一阶系统,并将其和无人船的动力学模型耦合。基于非线性模型预测控制,设计了USV动力学控制器,用于响应无人船的期望速度。数值仿真结果表明,在存在系统延时的仿真环境中,论文提出的针对控制系统延时的处理策略可减小无人船的路径跟踪偏差和改善控制形态输入的平顺性。Aiming at degradation of the path tracking performance of unmanned surface vehicles(USVs)caused by delay of the control system,this paper proposes a path tracking control algorithm and designs a two-layer USV path tracking controller.Based on the linear model predictive control,a USV kinematic controller is designed to obtain the expected speed of the USV to reduce the deviation in path tracking.System delay is treated as a first-order system and coupled to the dynamic model of the unmanned ship.Based on the nonlinear model predictive control,a USV dynamic controller is designed to track the desired speed of the USV.A simulation experiment is designed to verify the control performance of the proposed path tracking control algorithm.Simulation results show that the proposed strategy for the control system can reduce path tracking bias of the unmanned ship and improve smoothness of the control input.

关 键 词：无人船 路径跟踪 模型预测控制 延时系统 

分 类 号：P751[交通运输工程—港口、海岸及近海工程]