基于轨迹线性化的无人水面艇航向控制与验证

Course control and verification of unmanned surface vehicle based on trajectory linearization

为解决无人水面艇在真实海洋环境中的航向跟踪与保持的精确控制问题,以"蓝信"号无人水面艇为研究对象,辨识模型参数,然后建立操纵运动模型,设计并验证了一种快慢回路时标分离的基于轨迹线性化的无人水面艇航向控制方法.考虑到未建模动态以及海洋环境干扰对无人水面艇运动的影响,将非线性干扰观测器与轨迹线性化控制相结合,提出一种基于非线性干扰观测器的轨迹线性化航向控制方法,以提高航向控制的精度和鲁棒性.仿真结果验证了该方法的控制性能.通过"蓝信"号无人水面艇在大连海事大学凌水校区外部海域的实船实验,验证了轨迹线性化控制方法在实际工程应用中的正确性和有效性.

In order to solve the precise control problem of course tracking and keeping of unmanned surface vehicle(USV)in the real marine environment,taking"Lanxin"USV as the research object,the model parameters were identified,and then the maneuvering motion model was established.A course control method of USV was designed and verified based on trajectory linearization with time scale separation of fast and slow loops.Considering the influence of unmodeled dynamics and marine environment disturbance on the motion of USV,a trajectory linearization course control method based on nonlinear disturbance observer was proposed by combining nonlinear disturbance observer with trajectory linearization control to improve the accuracy and robustness of course control.Simulation results verify the control performance of the proposed method.The correctness and effectiveness of the trajectory linearization control method in practical engineering application are verified by the real ship experiment of"Lanxin"USV in the sea area outside Lingshui campus of Dalian Maritime University.