基于预测函数控制的水面无人船航向控制器设计

Design of Surface Unmanned Ship Heading Controller Based on Predictive Function Control

针对水面无人船存在操舵约束的情况和航行过程中存在风浪流等扰动的航向控制问题,设计了一种基于预测函数控制的水面无人船航向控制器,该控制器采用先预测后控制的思想,在线求解最优控制量的过程中充分考虑上述约束及干扰对航向控制的影响,从而实现对干扰的及时补偿。然后,对基于预测函数控制的航向控制器进行了仿真实验,并与基于传统PID控制的航向控制器进行对比分析,以此验证该控制器的有效性,为后续航迹间接控制算法的设计提供支撑。

Aiming at the steering constraints of surface unmanned ships and the heading control problems such as wind and waves during the navigation process,a surface unmanned ship heading controller based on predictive function control is designed. The controller adopts the first predictive control. Thoughts,in the process of solving the optimal control amount online,the influ. ence of the above constraints and interference on the heading control are fully considered,so as to achieve timely compensation for interference. Then,the simulation experiment of the heading controller based on the predictive function control is carried out,and is compared with the heading controller based on the traditional PID control,the validity of the controller is verified,and the design of the subsequent track indirect control algorithm is provided and supported.