基于卡尔曼滤波离散滑模控制的明轮船直线跟踪

Linear Trajectory Tracking of Paddle Boat Using Discrete Sliding Mode Control Based on Kalman Filter

针对明轮船作业过程中风、浪等引起的低频扰动,为了节约能源、降低由扰动引起控制系统的主动动作频次、延长明轮船续航时间,实现明轮船的高精度导航控制,降低风浪干扰的影响,提出基于卡尔曼滤波的离散滑模控制方式。通过建立水动力模型和偏航角动态响应模型,计算离散滑模控制的增益系数。经过仿真验证与实船试验,并与PD控制方式的效果进行对比,最大超调量比PD控制方式减小25%,调整时间减少50%,航迹偏差低于10cm。基于卡尔曼滤波的离散滑模控制方法实现了高精度的明轮船直线航迹跟踪,且明轮船的航行过程更加平稳。

A linear trajectory tracking algorithm for tracking operation, could be used by the paddle boat for aquaculture. In order to cope with complex working environments, high-precision navigation must be adopted. The paddle boat could continue to be disturbed by wind and waves during the voyage. Interference could cause fluctuations in the track of the paddle boat. In order to realize high-precision navigation control of paddle boat and reduce influence of wind and wave interference, improve the stability of paddle boat process, save energy, reduce active frequency of the control system caused by the disturbance, and extend the duration of sailing and operation of paddle boat, a discrete sliding mode control method based on Kalman filter was proposed. Through the establishment of hydrodynamic model and yaw angle dynamic response model, the gain coefficient of discrete sliding mode control was designed and calculated. The negative feedback signal was denoised by two-dimensional Kalman filtering. After simulation verification and the actual boat was tested in the lake, and compared with the effect of PD control mode. As a result, the maximum overshoot was less than25% of the PD control mode, the adjustment time was reduced by 50%, and the track deviation was less than10 cm. The discrete sliding mode control method based on Kalman filter achieved high-precision tracking of paddle boat, and the navigation process of paddle boat was more stable.