本文關(guān)鍵詞：具有橫搖約束的欠驅(qū)動(dòng)水面艇航跡跟蹤控制研究　出處：《江蘇大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 航跡跟蹤 橫搖約束 預(yù)測(cè)控制 有限時(shí)間控制 卡爾曼濾波 干擾觀測(cè)器

【摘要】：水面艇作為速度快、靈活機(jī)動(dòng)的小型智能水面運(yùn)動(dòng)平臺(tái),在執(zhí)行偵察、排雷、搜救、水文勘察等軍事和民用任務(wù)時(shí)都有不可替代的作用。水面艇通常僅依靠螺旋槳的推進(jìn)力和舵的轉(zhuǎn)向力矩控制水平面橫向、縱向位置和艏搖3個(gè)自由度運(yùn)動(dòng),具有欠驅(qū)動(dòng)性。在受到風(fēng)、浪、流的干擾時(shí),水面艇往往會(huì)偏離預(yù)定安全航跡,同時(shí)有較大幅度的橫搖,影響乘員舒適性、損壞貨物,甚至發(fā)生傾覆。因此,提高水面艇操縱性以克服橫搖并實(shí)現(xiàn)航跡跟蹤控制,是近年來(lái)船舶控制領(lǐng)域研究的熱點(diǎn)問(wèn)題之一。本文采用有限時(shí)間控制研究三自由度欠驅(qū)動(dòng)水面艇航跡跟蹤控制問(wèn)題;為了避免水面艇劇烈橫搖帶來(lái)的危險(xiǎn),采用耦合橫搖的四自由度航跡跟蹤模型,基于預(yù)測(cè)控制算法,將橫搖角作為狀態(tài)約束,設(shè)計(jì)預(yù)測(cè)控制器控制航向;同時(shí),采用Sage-Husa自適應(yīng)卡爾曼濾波技術(shù)消除噪聲的影響,設(shè)計(jì)干擾觀測(cè)器消除干擾的影響,實(shí)現(xiàn)航跡跟蹤的目的,并起到抗橫搖作用。首先,基于水面艇三自由度航跡跟蹤誤差模型,設(shè)計(jì)Backstepping非線性控制律,使水面艇能快速跟蹤到期望航跡,保證閉環(huán)系統(tǒng)的穩(wěn)定性。在此基礎(chǔ)上,進(jìn)一步考慮水面艇受外界風(fēng)、浪、流干擾的影響,利用有限時(shí)間控制快速收斂性和強(qiáng)抗干擾能力的特點(diǎn),設(shè)計(jì)Backstepping和有限時(shí)間控制綜合控制律,提高了水面艇航跡跟蹤系統(tǒng)的魯棒性,從理論上證明控制系統(tǒng)有限時(shí)間收斂性能和抗干擾能力,通過(guò)仿真驗(yàn)證了算法的有效性。然后,針對(duì)水面艇受風(fēng)、浪、流的影響產(chǎn)生橫搖,基于耦合橫搖的四自由度線性模型,將橫搖角作為預(yù)測(cè)控制的狀態(tài)約束,滾動(dòng)優(yōu)化舵偏角實(shí)現(xiàn)欠驅(qū)動(dòng)水面艇的航跡跟蹤。通過(guò)仿真調(diào)整不同的預(yù)測(cè)步長(zhǎng)和不同的矩陣,實(shí)時(shí)對(duì)狀態(tài)預(yù)測(cè)校正,驗(yàn)證了預(yù)測(cè)控制器能有效減少橫搖角,使得系統(tǒng)各狀態(tài)量收斂到平衡點(diǎn)達(dá)到穩(wěn)定狀態(tài),最終保證水面艇能按預(yù)定軌跡安全航行。最后,針對(duì)水面艇航跡跟蹤系統(tǒng)的測(cè)量值為航向角,其余狀態(tài)量不能直接測(cè)量,考慮到系統(tǒng)噪聲和測(cè)量噪聲的影響,應(yīng)用Sage-Husa自適應(yīng)卡爾曼濾波技術(shù)對(duì)狀態(tài)量進(jìn)行最優(yōu)估計(jì);針對(duì)風(fēng)、浪、流干擾的影響,設(shè)計(jì)干擾觀測(cè)器,實(shí)時(shí)估計(jì)外界干擾,結(jié)合預(yù)測(cè)控制對(duì)系統(tǒng)進(jìn)行干擾補(bǔ)償,綜合分析帶有噪聲、干擾和橫搖約束的水面艇航跡跟蹤預(yù)測(cè)控制,并通過(guò)航模實(shí)驗(yàn)驗(yàn)證了算法的有效性。
[Abstract]:The boat as fast, flexible and intelligent small surface motion platform maneuvering, in reconnaissance, mine rescue, military and civilian hydrographic survey tasks have irreplaceable role. Usually only rely on surface ships steering torque control water plane transverse propeller propulsion and rudder, longitudinal position and yaw in 3 degrees of freedom of movement, is underactuated. Under wind, wave, flow disturbance, water craft often deviates from a predetermined safety track, and roll greatly, affect occupant comfort, damage to the goods, or even overturn. Because of this, improve the surface vessel maneuverability to overcome rolling and realize trajectory tracking control, ship control is one of the hot issues in the field of research in recent years. This paper adopts the finite time control study of three DOF underactuated surface ship trajectory tracking control problem; in order to avoid severe roll surface vessel danger, The four degree of freedom trajectory coupling rolling tracking model predictive control algorithm based on the roll angle as the state constraint, the predictive controller is designed to control the course; at the same time, using Sage-Husa adaptive Calman filtering to eliminate the influence of noise, disturbance observer is designed to eliminate the interference effect, achieve tracking purposes, and has anti roll effect of surface vessel. First, three degree of freedom trajectory tracking error model based on the design of Backstepping nonlinear control law, the surface vessel can track the desired trajectory, ensure the stability of the closed-loop system. On this basis, further consideration of surface vessel under external wind, wave, flow disturbance, the finite time control fast convergence and strong anti-interference ability, Backstepping design and finite time control integrated control law, to improve the robustness of surface ship trajectory tracking system, from the theory of Shanghai The control system of finite time convergence performance and anti-jamming capability, the simulation verifies the effectiveness of the algorithm. Then, according to the surface the boat by the wind, wave, flow impact rolling, linear model of four degrees of freedom coupling rolling based on the roll angle as a predictive state constraint control, rolling optimization rudder angle track drive realize under surface ship tracking. Through the simulation adjustment prediction step, different matrix, real-time state prediction correction, validate the predictive controller can effectively reduce the roll angle, which makes the state system converge to the equilibrium point reaches a steady state, the ultimate guarantee of water craft according to the predetermined trajectory safety. Finally, for the measurement of surface ship trajectory tracking system of value to the heading, the rest of the state of quantity can not be measured directly, taking into account the influence of system noise and measurement noise, the application of Sage-Husa adaptive Calman filtering The optimal estimation of the state; for the wind, wave, flow disturbance, disturbance observer design, real-time estimation of interference, combined with predictive control of disturbance compensation system, a comprehensive analysis with noise, surface vessel track jamming and roll constraint tracking control, and the effectiveness of the algorithm is verified by model experiment.

【學(xué)位授予單位】：江蘇大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U664.82

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