本文選題：無人船 + LQR　； 參考：《青島大學(xué)》2015年碩士論文

【摘要】：無人船是一種新型的海洋觀測平臺,它可以在人工操控或自動(dòng)控制狀態(tài)下完成觀測任務(wù)。無人船可以廣泛應(yīng)用于環(huán)境監(jiān)測、海洋測繪等方面的工作,由于無人船具備無人、自主等優(yōu)勢,其已經(jīng)成為當(dāng)今各國海洋軍事和研究單位研發(fā)的熱點(diǎn)對象。無人船相關(guān)技術(shù)的研究還處于起步階段,這迫切的需要我們展開相關(guān)方面的研究探索,而路徑跟蹤控制正是無人船技術(shù)的關(guān)鍵。本文以國家海洋局第一海洋研究所海洋物理與遙感研究室研發(fā)的雙體雙推進(jìn)無人船作為研究對象,主要的研究工作是設(shè)計(jì)該無人船的路徑跟蹤控制器。本文首先介紹了雙體雙推進(jìn)無人船系統(tǒng),為獲得無人船的阻力參數(shù),提出一種基于FLUENT軟件的無人船阻力數(shù)值模擬方法。使用標(biāo)準(zhǔn)k-ε湍流模型和VOF方法,分別對無人船浮體及其附屬物進(jìn)行周圍粘性流場的數(shù)值模擬,計(jì)算了無人船阻力,與湖試試驗(yàn)值進(jìn)行了比較。研究結(jié)果證明了該方法用于無人船阻力計(jì)算的適用性。另外,仿真數(shù)據(jù)也可作為無人船系統(tǒng)辨識的數(shù)據(jù)來源。然后,將船舶的六自由度模型簡化為常見的只考慮縱蕩、橫蕩和首搖的三自由度模型,建立了欠驅(qū)動(dòng)無人船水平面三自由度數(shù)學(xué)模型。根據(jù)實(shí)驗(yàn)數(shù)據(jù)對無人船模型進(jìn)行系統(tǒng)辨識,得到數(shù)學(xué)模型中的參數(shù),并對建立的無人船模型進(jìn)行了開環(huán)仿真,驗(yàn)證了該模型的正確性�；跓o人船模型和LQR控制算法,引入航向差和距離差兩個(gè)狀態(tài)量,設(shè)計(jì)了航向跟蹤、位點(diǎn)跟蹤、路徑跟蹤LQR控制器,并分別進(jìn)行了仿真驗(yàn)證。針對直線路徑跟蹤對比了LQR控制器和PID控制器的跟蹤效果,結(jié)果表明,本文設(shè)計(jì)的路徑跟蹤LQR控制器比PID控制器收斂速度更快,跟蹤效果更好。最后,對本文設(shè)計(jì)的LQR控制器進(jìn)行了試驗(yàn),實(shí)現(xiàn)了無人船的航向跟蹤、位點(diǎn)跟蹤和路徑跟蹤自動(dòng)控制,同時(shí)還完成了對圓形路徑的跟蹤。試驗(yàn)結(jié)果表明,LQR控制器跟蹤效果好,魯棒性強(qiáng),滿足工程應(yīng)用的要求。
[Abstract]:Unmanned vessel (UAV) is a new ocean observation platform, which can perform observation tasks under manual or automatic control. Unmanned vessels can be widely used in environmental monitoring, marine mapping and other aspects of work. Because unmanned vessels have the advantages of unmanned, autonomous and other advantages, it has become the research and development of marine military and research units in various countries. The research of unmanned ship related technology is still in its infancy, which urgently needs us to carry out the related research and exploration, and the path tracking control is the key of unmanned ship technology. In this paper, the two-body dual-propulsion unmanned vessel developed by Ocean Physics and remote Sensing Research Institute of the first Ocean Research Institute of the State Oceanic Administration is taken as the research object. The main research work is to design the path tracking controller of the unmanned ship. In this paper, we first introduce the catamaran dual propulsion unmanned ship system. In order to obtain the drag parameters of unmanned ship, a numerical simulation method of unmanned ship resistance based on fluent software is proposed. By using the standard k- 蔚 turbulence model and the VOF method, the viscous flow field around the floating body and its appendages of a unmanned ship is numerically simulated, and the resistance of the unmanned ship is calculated and compared with the lake test results. The results show that the method is applicable to the calculation of unmanned ship resistance. In addition, the simulation data can also be used as the data source of unmanned ship system identification. Then, the six degree of freedom model of ship is simplified as a three degree of freedom model with only longitudinal, rolling and first rolling considered, and a mathematical model of three degrees of freedom in horizontal plane of underactuated unmanned ship is established. According to the experimental data, the model of unmanned ship is identified, and the parameters of the mathematical model are obtained, and the open loop simulation of the model is carried out to verify the correctness of the model. Based on unmanned ship model and LQR control algorithm, the course tracking, locus tracking and path tracking LQR controllers are designed and verified by simulation. The tracking effects of LQR controller and pid controller are compared for linear path tracking. The results show that the designed LQR controller converges faster and has better tracking effect than pid controller. Finally, the LQR controller designed in this paper is tested, and the course tracking, locus tracking and path tracking automatic control of unmanned ship are realized, and the circular path tracking is also completed. The experimental results show that the tracking effect of LQR controller is good, the robustness is strong, and it can meet the requirements of engineering application.
【學(xué)位授予單位】：青島大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U675.7

【參考文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 丁磊;欠驅(qū)動(dòng)船舶的非線性控制問題研究[D];大連海事大學(xué);2009年

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本文編號：2037424