无人水面艇航迹跟踪控制仿真

Simulation of Path Tracking Control of Unmanned Surface Vessel

摘要:

针对模型参数不确定、存在外界风浪流干扰的欠驱动无人水面艇的航迹跟踪问题,为提高无人水面艇自主航行能力,减小航迹跟踪过程中的轨迹偏差与跟踪迟滞,提出了一种分层控制结构的方法；由外至内采取航迹、航向、舵角三层控制,外环航迹控制层使用过渡目标点策略,根据无人水面艇的偏航距确定实时目标点,中环航向控制层使用最小转角策略,根据无人水面艇艏向角与目标方向角之差确定偏转打角,内环舵角控制层使用模糊自适应整定PID控制器,对模型参数的动态变化进行补偿；基于MATLAB GUI进行无人水面艇航迹跟踪控制仿真试验,结果表明,模糊自适应整定PID控制器提高了舵角的控制响应速度,无人水面艇在航行过程中的直线行驶、连续折线行驶均能得到较好的航迹跟踪控制。

Abstract:

In order to improve the autonomous navigation ability of Unmanned Surface Vessel (USV) and reduce path error and track delay of path tracking, this paper proposes a hierarchical control structure for the trajectory tracking of unmanned surface vehicle under external wind, wave and current disturbances with model parameters uncertainly. The structure can be divided into three layers from outside to inside. Outermost layer of track control takes transition destination strategy to determine the real-time target position by the cross track distance. Intermediate layer of direction control takes minimum rotation angle strategy to determine the deflection angle by the difference between the heading angle and the given path angle. Innermost layer of rudder angle control designs a fuzzy PID controller to compensate the dynamic changes of model parameters. Under the MATLAB GUI environment a simulation was completed and the results indicate that the fuzzy PID controller increases the response speed of the rudder angle control and the USV have a good path tracking control in linear driving as well as nonlinear driving.