基于改进LADRC的突变载荷无人艇路径跟踪控制  

Path following control of USV with mutation load based on improved LADRC

作　　者：王维健 王健[1] 刘亚峰 梁晓锋[1] 易宏[1] WANG Weijian;WANG Jian;LIU Yafeng;LIANG Xiaofeng;YI Hong(Key Laboratory of Marine Intelligent Equipment and System,Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China;No.63969 Unit of PLA,Nanjing 210000,China)

机构地区：[1]上海交通大学海洋智能装备与系统教育部重点实验室,上海200240 [2]中国人民解放军63969部队,江苏南京210000

出　　处：《舰船科学技术》2024年第24期76-84,共9页Ship Science and Technology

基　　金：上海交通大学深蓝计划资助项目(SL2022MS003)。

摘　　要：本文针对上述问题提出一种基于改进线性自抗扰控制的控制架构来提高无人艇路径跟踪控制的抗干扰能力及跟踪精度。首先,采用积分视距制导法来为无人艇路径跟踪制导提供依据;其次,针对跟踪微分器固有的超调问题,基于一种改进的线性自抗扰控制方法设计了无人艇转首力矩控制器,以控制无人艇受到突变载荷时突变的航向角,从而提高路径跟踪精度;然后采用潜射导弹发射反力曲线模拟无人艇受到突变载荷情况,并且考虑无人艇在风、浪、流联合作用下的干扰作用力;最后,使用Simulink进行仿真试验,并与PID控制器进行了对比。在无人艇突变载荷工况下,该方法能够在满足系统的速度约束条件下对给定的直线路径进行快速响应并精确跟踪;与传统PID控制器相比,其收敛速度提高了约50%,其最大横向误差响应幅值减小了约53%,针对风、浪、流的联合干扰,本文设计的控制器的抗干扰能力显著优于PID控制器。仿真结果表明本文提出的改进线性自抗扰路径跟踪控制器具有优良的抗干扰能力和控制效果。A control structure based on improved Linear Active Disturbance Rejection Control is proposed to improve the USV's anti-interference ability and tracking accuracy in response to the above issues.Firstly,the integrated line-of-sight method is used to provide a basis for path following and guidance of unmanned surface vehicles;secondly,based on the inherent overshoot problem of the tracking differentiator,an improved linear auto-disturbance rejection control method is proposed to design a USV turning torque controller to control the mutation of course angle of the USV when subjected to mutation loads,thereby improving path following accuracy;thirdly,the reaction curve of submarine launched missiles is used to simulate the mutation load on unmanned boats,and considering the interference force of the USV under the combined action of ocean winds,waves,and currents;finally,simulation experiments are conducted on the USV in Simulink and compared with the PID controller.When simulating mutation load conditions on the USV,this control method can quickly recover and accurately follow the given straight path while meeting the speed constraints of the system.Compared with the traditional PID controller,its convergence speed is improved by around 50%,and its maximum lateral error response amplitude is reduced by about 53%.It is effective against combined interference from ocean winds,waves,and currents,and the anti-interference ability of the controller designed in this article is significantly better than that of the PID controller.The simulation results show that the improved LADRC controller proposed in this article has excellent anti-interference ability and robustness.

关 键 词：路径跟踪控制 线性自抗扰控制 突变载荷 跟踪微分器 

分 类 号：U675.9[交通运输工程—船舶及航道工程]