摘要
针对多船舶之间的编队合作问题,对船舶的编队控制进行研究。利用广义预测控制方法在船舶运行中对理想路径曲线进行预测,得出船舶的运动控制策略;通过运用领导-跟随者编队方法,在Cartesian坐标系下建立船舶编队控制模型,基于这种模型建立一系列船舶航迹约束,得到船队跟随者成员的控制策略。同时在船舶运行过程中,加入风浪的扰动,进行模拟仿真,得到船队的运行轨迹。
To do a deep research about multi-shipping formation cooperation, we studied the formation control of shipping. To predict the ideal path curves in the movement of the shipping, generalized predictive control method was used. Then the motion control strategy of shipping was brought out. A model of shipping formation control was created in the Cartesian coordinate system using the leader-follower formation method. Based on this model, we built a series of vessels bound track, and got control strategy for follower members. In the simulation experiments we added simulated storm disturbance during the movement of shipping. In the end, the running track of the fleet was obtained.
出处
《计算机与现代化》
2014年第5期33-36,41,共5页
Computer and Modernization
关键词
广义预测控制
船舶编队
领导-跟随者
风浪干扰
generalized predictive control
ship formation
leader-follower
storm disturbance
