无人水面艇直线航迹跟踪控制器的设计与验证

PDF(661 KB)

大连海事大学学报 ›› 2015, Vol. 41 ›› Issue (4) : 14-18.

船舶与海洋工程

田勇,王丹*,彭周华,刘陆

作者信息 +

Design and validation of path tracking controller for USV along straight-lines

TIAN Yong, WANG Dan*, PENG Zhou-hua, LIU Lu

Author information +

文章历史 +

摘要

针对欠驱动无人水面艇航迹跟踪控制问题，设计一种直线航迹跟踪控制器.该控制器由导引算法和航向控制器两部分组成.导引算法基于LOS导引原理，根据给定航迹得出无人艇的期望航向；航向控制器采用抗饱和PID控制方法，通过负反馈防止积分器饱和，解决了传统PID控制器的航向超调和振荡问题.该航迹跟踪控制方法在DH-01小型欠驱动无人水面艇上得到实验验证.实验结果表明，航迹跟踪误差小于0.05 m.

Abstract

A straight-line path tracking controller is designed to solve the problem of straight-line path tracking of unmanned surface vehicles (USV). The controller consists of two parts: guidance law and a course controller. The guidance law is based on the Line-of-Sight (LOS) guidance law, which provides the expected course according to the given path. An anti-windup course controller is devised to prevent integrator saturation through negative feedback. The controller solves the problem of overshoot and oscillation in traditional PID controller. A case study is provided on a USV called DH-01 to demonstrate the performance of the tracking controller. Experimental results show that the tracking error is less than 0.05 m.

导出引用

田勇,王丹,彭周华,刘陆. 无人水面艇直线航迹跟踪控制器的设计与验证[J]. 大连海事大学学报. 2015, 41(4): 14-18

TIAN Yong, WANG Dan, PENG Zhou-hua, LIU Lu. Design and validation of path tracking controller for USV along straight-lines[J]. Journal of Dalian Maritime University. 2015, 41(4): 14-18

参考文献

[1]FOSSEN T I,BREIVIK M,SKJETNE R.Line-of-Sight path following of underactuated marine craft[C]//Proceedings of the 6th IFAC MCMC, Oxford,UK: IFAC-Elsevier Ltd,2003:244-249.
[2]刁海龙.反水雷、反潜、反导和反恐的利剑——无人水面艇系统[J].水雷战与舰船防护,2011,19(1):1-5.
DIAO Hai-long.Unmanned surface vehicle system—the sword of MVM, ASW, anti-missile and anti-terrorism[J]. Mine Warfare & Ship Self-Defense,2011,19(1):1-5.(in Chinese)
[3]马天宇,杨松林,王涛涛,等.多USV协同系统研究现状与发展概述[J].舰船科学技术,2014,36(6):7-13.
MA Tian-yu, YANG Song-lin, WANG Tao-tao,et al. An outline of current status and development of the multiple USV cooperation system [J].Ship Science and Technology,2014,36(6):7-13.(in Chinese)
[4]BREIVIK M, FOSSEN T I.Principles of guidance-based path following in 2D and 3D[C]//Proceedings of 44th IEEE Conference on Decision and Control.Piscataway,NJ:IEEE Press,2005:627-634.
[5]李铁山,杨盐生,洪碧光,等.船舶航迹控制鲁棒自适应模糊设计[J].控制理论与应用,2007,24(3):445-448.
LI Tie-shan, YANG Yan-sheng, HONG Bi-guang, et al. Robust adaptive fuzzy design for ships track-keeping control[J].Control Theory & Applications,2007,24(3): 445-448.(in Chinese)
[6]LI Chuan-jiang, SUN Yan-chao, LV Teng, et al. A fuzzy guidance law design with Terminal-Angle constraint [C]//Proceedings of the 33rd Chinese Control Conference.Piscataway,NJ:IEEE Press,2014:749-753.
[7]CHUANG Shang-jen, CHEN Chiung-hsing, HONG Chih-ming, et al. Intelligent control for USV based on improved Elman neural network with TSK fuzzy[J/OL].Advances in Artificial Intelligence,2014:65-71.(2014-05-18)[2015-02-17].http://www.hindawi.com/journals/aai/2014/739517/.
[8]李荣辉,李铁山,卜仁祥.欠驱动水面船舶航迹跟踪自抗扰控制[J].大连海事大学学报,2013,39(2):5-8.
LI Rong-hui,LI Tie-shan,BU Ren-xiang.Active-disturbance-rejection control based underactuated surface vessel path following[J].Journal of Dalian Maritime University,2013,39(2):5-8(in Chinese)
[9]KIAM Heong-ang, CHONG G, YUN Li.PID control system analysis, design, and technology [J].IEEE Transactions on Control Systems Technology,2005,13(4): 559-576.
[10]BREIVIK M, HOVSTEIN V E, FOSSEN T I.Straight-line target tracking for unmanned surface vehicles[J].Modeling,Identification and Control,2008,29(4):131-149.