本文選題：無人水面艇 + 直線路徑跟蹤　； 參考：《大連海事大學(xué)》2017年碩士論文

【摘要】：水面無人艇以其廣泛的應(yīng)用前景成為國內(nèi)外各國智能化海洋裝備的發(fā)展重點(diǎn)。作為海洋探索測繪、海洋環(huán)境監(jiān)測、維護(hù)國家海上利益的重要手段,無人艇的研究日益成為各國學(xué)者研究的重點(diǎn)和熱點(diǎn)。無人艇航行時(shí)海面環(huán)境復(fù)雜多變,如何保證無人艇在安全航行的前提下精準(zhǔn)快速跟蹤所設(shè)定航跡路線成為了完成無人艇戰(zhàn)略戰(zhàn)術(shù)目標(biāo)的基礎(chǔ)。這就使得快速跟蹤路徑成為了無人艇航跡研究的重要內(nèi)容之一。本文為了實(shí)現(xiàn)水面無人艇快速精準(zhǔn)的路徑跟蹤,在研究和參考了大量國內(nèi)外學(xué)者著作的基礎(chǔ)上,以大連海事大學(xué)"藍(lán)信"號水面無人艇作為研究對象。針對直線路徑跟蹤控制問題,分別進(jìn)行了間接路徑跟蹤控制器和直接路徑跟蹤控制器的設(shè)計(jì)和仿真驗(yàn)證,并且設(shè)計(jì)了串級模糊PID直線路徑跟蹤實(shí)船實(shí)驗(yàn)。主要內(nèi)容分為以下幾部分:首先,對依據(jù)船舶數(shù)學(xué)模型建立的相關(guān)知識對"藍(lán)信"號無人艇分別進(jìn)行了線性數(shù)學(xué)模型和非線性數(shù)學(xué)模型的建立,并且根據(jù)無人艇操縱實(shí)驗(yàn)的數(shù)據(jù)進(jìn)行了模型參數(shù)的辨識。為后文設(shè)計(jì)直線路徑跟蹤控制器、直線路徑跟蹤控制的研究和仿真平臺的建立提供了研究對象的數(shù)學(xué)模型。在進(jìn)行間接路徑跟蹤控制方法的研究中,利用模糊PID控制算法的原理,分別設(shè)計(jì)了模糊PID航向控制器和模糊PIID航跡控制器。設(shè)計(jì)了雙環(huán)串級直線路徑跟蹤控制仿真系統(tǒng),仿真結(jié)果表明所設(shè)計(jì)的控制系統(tǒng)具有良好的自適應(yīng)能力,能夠?qū)崿F(xiàn)快速精準(zhǔn)的直線路徑跟蹤的控制目標(biāo)。在進(jìn)行直接路徑跟蹤控制方法的研究中,結(jié)合反步法和滑�？刂圃�。針對包含二階舵機(jī)的無人艇模型設(shè)計(jì)了反步滑模直線路徑跟蹤控制器,仿真結(jié)果表明了該控制器的直線航跡跟蹤控制精度較高,響應(yīng)較快,可為"藍(lán)信"號無人水面艇直線路徑跟蹤控制的研究提供參考。最后,將基于模糊自適應(yīng)PID原理設(shè)計(jì)的直線路徑跟蹤控制器應(yīng)用到"藍(lán)信"號水面無人艇航跡控制實(shí)驗(yàn)中。海上實(shí)船實(shí)驗(yàn)結(jié)果表明所設(shè)計(jì)的模糊PID直線路徑跟蹤控制器在實(shí)際海洋環(huán)境下的有效性和自適應(yīng)能力�？刂凭葷M足快速跟蹤直線路徑的控制目標(biāo)。
[Abstract]:Surface unmanned craft (UAV) has become the development focus of intelligent marine equipment at home and abroad with its wide application prospect. As an important means of marine surveying and mapping, marine environment monitoring and protecting the national marine interests, the research of unmanned craft has increasingly become the focus and hot spot of scholars in various countries. The sea surface environment is complex and changeable while unmanned craft is sailing. How to ensure the unmanned craft to track the track accurately and quickly under the premise of safe navigation has become the foundation of accomplishing the strategic and tactical target of unmanned craft. This makes the fast track tracking become one of the important contents of the track research of unmanned craft. In order to realize the fast and accurate track tracking of the surface unmanned craft, based on the research and reference of a large number of scholars at home and abroad, this paper takes the "Lanxin" surface unmanned craft of Dalian Maritime University as the research object. The design and simulation of the indirect path tracking controller and the direct path tracking controller are carried out for the linear path tracking control problem, and the experiments of cascade fuzzy PID linear path tracking ship are designed. The main contents are as follows: firstly, the linear mathematical model and nonlinear mathematical model of Lanxin unmanned vessel are established according to the relevant knowledge of ship mathematical model. And the model parameters are identified according to the data of unmanned craft control experiment. The mathematical model of the research object is provided for the design of the linear path tracking controller, the research of the linear path tracking control and the establishment of the simulation platform. In the research of indirect path tracking control method, fuzzy PID course controller and fuzzy PIID track controller are designed by using the principle of fuzzy PID control algorithm. A double-loop cascade linear path tracking control simulation system is designed. The simulation results show that the designed control system has a good adaptive ability and can achieve the control goal of fast and accurate linear path tracking. In the research of direct path tracking control, the backstepping method and sliding mode control principle are combined. A backstepping sliding-mode linear path tracking controller is designed for the unmanned ship model with second-order steering gear. The simulation results show that the linear track tracking control of the controller has higher accuracy and faster response. It can provide a reference for the research of the linear path tracking control of the unmanned surface craft Lanxin. Finally, the linear path tracking controller based on fuzzy adaptive PID principle is applied to the track control experiment of Lanxin surface unmanned craft. The experimental results show that the fuzzy PID linear path tracking controller is effective and adaptive in the actual marine environment. The control precision meets the control goal of fast tracking straight line path.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U664.82;TP273

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