风浪流干扰下的无人艇航向模糊自适应模型的研究

Fuzzy Adaptive Model for Unmanned Surface Vessel Cours Under the Interfering of Wind and Wave Based on Nomoto Model

由于无人艇在风浪流航行环境下具有非线性和复杂性的特点,运用经典控制理论和现代控制理论建立无人艇的模型较为困难。论文通过对无人艇航行过程中所受的风浪流扰动进行分析,以无人艇运动操纵模型作为基础,采用分类建模的方式,融合模糊控制的思想及Nomoto模型,建立了无人艇在风浪流环境干扰下的航向模糊自适应模型。借助Matlab建模工具搭建模糊控制器,观测数据变化情况,获得较为准确的模型参数。

USV has the characteristics of non-linearity and complexity in the environment of winds,waves and currents,it’s difficult that the model of USV is established by classical control theory and modern control theory.After analyzing the wind-wave-Currents interference factors in the process of USV sailing and based on the movement mathematical model of USV,the interference model is classified and modeled.This paper uses the theory of fuzzy control and Nomoto model to establish the adaptive movement mathematical model of USV on sailing direction under the interference of wind-wave-currents environment.With Matlab modeling tools fuzzy controller is built,the data changes are observed,more accurate model parameters are gotten.