基于二型模糊控制的无人艇航向航速控制系统设计与试验  

Design and experiment of heading and speed control system of unmanned surface vehicle based on Type-2 fuzzy control

作　　者：何姝 熊颖郡 肖玲君 雷涛[2] 朱曼[2] HE Shu;XIONG Yingjun;XIAO Lingjun;LEI Tao;ZHU Man(Shenzhen Yuchi Testing Technology Co.,Ltd.,Shenzhen 518055,China;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]深圳市宇驰检测技术股份有限公司,广东深圳518055 [2]武汉理工大学智能交通系统研究中心,湖北武汉430063

出　　处：《中国舰船研究》2024年第1期90-97,共8页Chinese Journal of Ship Research

基　　金：湖北省揭榜制科技资助项目(2021BEC003);国家自然科学基金资助项目(52001237);武汉理工大学三亚科教创新园开放基金资助项目(2021KF0030)。

摘　　要：[目的]针对水上复杂多变的环境给无人艇(USV)控制带来的不确定性干扰,提出基于二型模糊控制算法的USV航向航速控制器,并运用所提算法研制一套智能自主稳健的控制系统。[方法]构建USV航向航速运动特性模型,利用递推最小二乘法(RLS)对航向航速运动特性模型进行参数辨识,基于辨识的航向航速运动特性模型分别设计二型模糊控制算法和滑模控制算法,并进行实艇验证试验。[结果]结果表明,相较于滑模控制算法,二型模糊控制算法在控制USV时表现出了较好的鲁棒性,具有较理想的抗干扰能力,但在实时响应方面略长。[结论]研究结果可为在不确定干扰环境下的USV运动控制提供参考。[Objective]As the complicated and changing environment on the water imposes uncertain interference on the control of unmanned surface vehicles(USVs),a heading and speed controller for USVs with a Type-2 fuzzy control algorithm is proposed.On this basis,an intelligent autonomous and robust control system is developed.[Methods]First,a motion characteristic model for heading and speed is constructed.The recursive least square(RLS)method is then used to identify the parameters of the model.Finally,based on the identified model,a Type-2 fuzzy control algorithm and sliding mode control algorithm are designed and validated through actual ship experiments.[Results]As the experimental results indicate,compared with the sliding mode control algorithm,the Type-2 fuzzy control algorithm demonstrates better robustness and ideal anti-interference ability in controlling USVs,but its real-time response is slightly longer.[Conclusion]The results of this study can provide references for the motion control of USVs subjected to uncertain interference.

关 键 词：无人艇 航向航速控制 递推最小二乘法 二型模糊控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]