基于线性自抗扰控制的海上无人艇航向控制

Unmanned Sea Vehicle Course Control Based on Linear Active Disturbance Rejection Control

针对无人艇难以精确建模和其在海上航行时因为风、浪、流干扰而导致航向控制精度下降的问题,提出在无人艇航向控制系统中引入线性自抗扰控制。线性自抗扰控制利用线性状态观测器实时估计未知扰动并对控制量进行适当补偿,实现航向精准控制,不需要无人艇精确的数学模型。首先建立了无人艇数学模型和舵机数学模型,然后建立了风、浪、流数学模型,最后在Matlab/Simulink中设计了基于线性自抗扰控制的无人艇航向控制系统,并与基于自抗扰控制的无人艇航向控制系统进行了对比。仿真结果表明,线性自抗扰控制器相比于传统的自抗扰控制器,控制器需要整定的参数大大减少,系统动态性能和静态性能几乎一致,具有较好的实际工程应用前景。

For the problems of Unmanned Surface Vehicles(USVs)in accurate modeling and its sailing on the sea because of the wind,wave and flow interference,leading to the decrease of the heading control precision,the paper puts forward USV heading control system,by introducing the Linear Active Disturbance Rejection Control(LADRC).LADRC needs no USVaccurate mathematical model of linear state observer to estimate the unknown disturbance and appropriate compensation,to control the amount of precision control course.Firstly,the mathematical model of USV and steering gear is established,and then the mathematical model of wind,wave and flow is established.Finally,the heading control system of USV based on LADRC is designed in Matlab/Simulink,and is compared with the heading control system based on ADRC.The simulation results show that compared with the traditional ADRC,the parameters of the controller needing to be set are greatly reduced,the dynamic performance and static performance of the system are almost the same,and it has a good prospect for practical engineering application.