摘要
对UUV的精确定位跟踪,是UUV试验中不可或缺的安全保障条件;试验中通常采用通信定位声呐对UUV进行定位跟踪,但如何保证通信定位声呐能准确定位跟踪就需要具体的试验对其验证;无人水面船拖着声呐Transceiver按照预定的航线运动,水下声呐Transponder就会接受来自Transceiver的水声信号从而开始定位;这里通过对无人水面船在一个规划的路径上进行多次重复运动来进行声呐位置校准,控制方法上首先研究了非奇异Terminal滑模控制器的设计,并分析其有限到达时间,最后进行相轨迹仿真验证;通过仿真验证,将建立的控制器加入无人船的动力学模型中,在外界干扰的情况下,以固定航向角从起点到目标终点对无人船进行控制,实现了运动路径的优化,并给出其航向及速度曲线。
The accurate positioning tracking of UUV is an integral security condition during the UUV experiment. The communication position sonar is commonly used in the positioning of UUV, but how to ensure the tracking accuracy of sonar communication positioning , specific experiment will be required for its validation. Unmanned surface vessel with the sonar Transceiver moves by the intended route , the positioning will be started when the underwater sonar Transponder receives the acoustic signal from the Transceiver. Here the sonar positio ning calibration is done by the multiple and repeating moving of unmanned surface vessels on a planing path , on the control method , first study the design of a nonsingular Terminal sliding mode controller, then anhlysis their limited arriving time, final simulate the phase trajec tory. Through the simulation, the established controller joining the dynamic model of the USV , in the case of outside interference, control ling the USV by the constant heading angle from the starting point to the destination end point , the motion path is optimized, and its curve of the heading and speed is provided.
出处
《计算机测量与控制》
北大核心
2013年第6期1558-1561,共4页
Computer Measurement &Control
基金
教育部新世纪优秀人才支持计划资助(NCET-10-0053)
