水面无人艇的模糊建模方法研究

Research on fuzzy modeling method of surface unmanned boat

为更好地应对水流、风力等外界干扰,提高航行的安全性和可靠性,研究水面无人艇的模糊建模方法。从惯性和艇体坐标系的2个角度,建立水面无人艇运动数学模型,全面描述无人艇的运动状态,包括位置、速度、加速度、航向角等关键参数;通过考虑风、浪、流这3个方面的干扰因素,建立水面无人艇环境干扰模型,得到总扰动力矩;以水面无人艇运动数学模型为基础,获取无人艇距离与航向角的偏差,作为模糊神经网络PID算法的输入,更好地应对水流、风力等外界干扰,输出水面无人艇航速与舵角控制量;依据总扰动力矩,得到无人艇的等效舵角值,与舵角控制量相加,得到最终的舵角控制信号,完成水面无人艇模糊建模,提高航行的安全性和可靠性。实验证明:该方法可有效确定水面无人艇的总扰动力矩,完成无人艇航速与舵角控制。

In order to better deal with the external interference such as current and wind,improve the safety and reliab-ility of navigation,the fuzzy modeling method of surface unmanned boat is studied.Based on inertia and body coordinate system,a mathematical model is established to describe the motion state of unmanned surface vehicle,including position,speed,acceleration,heading Angle and other key parameters.By considering the disturbance factors of wind,wave and cur-rent,the environmental disturbance model of surface unmanned boat is established,and the total disturbance torque is ob-tained.Based on the mathematical model of the motion of the surface unmanned boat,the deviation between the distance and the heading Angle of the unmanned boat is obtained,which is used as the input of the fuzzy neural network PID algorithm to better cope with external interference such as current and wind,and output the speed and rudder Angle control quantity of the surface unmanned boat.According to the total disturbance torque,the equivalent rudder Angle value of the unmanned boat is obtained,which is added with the rudder Angle control quantity to obtain the final rudder Angle control signal,complete the fuzzy modeling of the surface unmanned boat,and improve the safety and reliability of navigation.Experiments show that the method can effectively determine the total disturbance torque of the unmanned surface boat,and complete the speed and rudder Angle control of the unmanned boat.