无人水面艇模型辨识及其航向非线性控制的研究

Study on USV Model Identification and Nonlinear Course Control 

摘要:

无人水面艇是一种智能化海洋装备平台,有航速快、机动性强、自动化程度高等特点,可以执行各种危险以及不适合人员参与的任务;航向控制不仅关乎到航行的安全性与经济性,更是实现其无人行驶的基础;为了实现航向的自动控制,首先进行无人艇模型辨识,模型是控制的基础,控制效果的好坏不仅与控制策略有关,更与模型的精度有关;为了提高模型精度,采集Z型和回转实验以数据,通过递推最小二乘对无人艇的数学模型进行辨识;然后将模型的仿真实验与实船数据进行对比,验证了模型的正确性和合理性;基于Backstepping方法设计非线性航向控制器,借助Lyapunov 函数证明了闭环系统的稳定性;仿真结果表明系统的实际航向能实时跟踪设定航向,控制器具有良好的动静态特性和鲁棒性。

Abstract:

Unmanned Surface Vehicle is an intelligent platform for marine equipment, having the characteristics of fast speed, high mobility and high degree of automation. It can perform a variety of dangerous and not suitable for personnel missions. Course control is not only essential to the security and economy of the navigation, but also the basis for unmanned driving. In order to achieve automatic control of course, unmanned boat model is identified firstly. Model is the basis of control, and the control effect good or bad is not only related with the control strategy and more about the accuracy of the model. To improve the accuracy of the model, collecting the data of z test and rotation test in the primary sea condition, the model is identified by Recursive Least Squares. To further verify the correctness of the model, simulation tests are compared with the actual data. Nonlinear course controller is designed by backstepping method and the stability of the system is proved by Lyapunov function. Simulation results show that the actual course of system can track the target course quickly and The controller has good dynamic and static characteristics and robustness.