基于LQR的双推进双体无人船位点跟踪控制  

LQR-based Waypoint Tracking Control of Catamaran USV with Double Propulsion System

作　　者：汪栋[1,2] 张杰 邵峰[3] 金久才 毛兴鹏[1] 

机构地区：[1]哈尔滨工业大学电子与信息工程学院,黑龙江哈尔滨150006 [2]国家海洋局第一海洋研究所,山东青岛266061 [3]中国石油大学(华东)信息与控制工程学院,山东青岛266580

出　　处：《信息与控制》2017年第5期587-592,共6页Information and Control

基　　金：国家自然科学基金资助项目(61401111);海洋公益性行业科研专项资助项目(201505005-2);中央级公益性科研院所基本科研业务费专项资助项目(2015P08)

摘　　要：针对自研发的双推进双体无人船的自动位点跟踪问题,基于理论方程和湖试数据构建了水平面内的三自由度无人船水动力模型,并在该模型的基础上,基于LQR(linear quadratic regulator)理论和LOS(line-of-sight)算法设计了适用于双推进式无人船的自动位点跟踪控制器.对设计的自动位点跟踪控制器进行了仿真分析,并与基于PID控制方法的仿真结果进行了比较.此外,在湖试验证中对该位点跟踪控制器进行了多次单位点跟踪和多位点跟踪试验,显示了较好的跟踪效果,表明了该位点跟踪控制器在双推进双体无人船中的适用性.To solve the automatic waypoint tracking problem of a double-propulsion catamaran USV developed independently,a waypoint tracking controller is designed based on linear quadratic regulator theory and the lineof-sight algorithm with a three-degrees-of-freedom dynamic model,which is modified based on theoretical equations and the data of a lake experiment.Then,simulation analysis of the designed waypoint tracking controller is performed,and results are compared with the ones obtained by the PID method.In addition,several single-and multi-waypoint tracking tests in a lake experiment are performed based on the designed waypoint tracking controller.Results show good tracking performance,which indicates that the designed waypoint tracking controller can adapt to double-propulsion catamaran USVs.

关 键 词：无人船 位点跟踪 线性二次型调节器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664.82[自动化与计算机技术—控制科学与工程]