摘要
无人水面艇在运动过程中容易受到环境干扰的影响,尤其在受到波浪干扰后会导致其运动控制偏离期望路径,进而造成能量浪费。针对波浪环境下固定参数控制器对环境适应能力较弱的问题,将模糊控制方法与重定义无模型自适应控制方法相结合,设计了一种模糊重定义无模型自适应控制(FRMFAC)算法,该算法可以根据不同波浪的干扰情况自行调整控制参数;同时,采用视线法与FRMFAC算法对无人艇进行路径跟随控制;最后,通过与固定参数控制方法进行对比试验,验证了该算法的有效性和节能效果。对比仿真结果可知,使用可变参数的控制方法可以在有效提高无人艇对环境适应能力的同时起到节能效果。
Unmanned surface vessels(USVs)are subjected to environmental disturbance in the process of movement.In particular,after being disturbed by waves,its motion control will deviate from the expected path,resulting in a waste of energy.In response to the problem of weak adaptability of fixed parameter controllers to the wave environment,the fuzzy control method was combined with the redefined model-free adaptive control(MFAC)method,and a fuzzy redefined MFAC(FRMFAC)algorithm was designed,which could adjust the control parameters according to the disturbance of different waves.At the same time,the line-of-sight method and FRMFAC algorithm were used to control the path following of USVs.Finally,compared with the fixed parameter control method,the effectiveness and energy saving effect of FRMFAC were verified.The simulation results show that the control method with variable parameters can effectively improve the adaptability of USVs to the environment and save energy.
作者
魏佳广
张拓圣
辛筠炜
李怀亮
张西伟
WEI Jiaguang;ZHANG Tuosheng;XIN Yunwei;LI Huailiang;ZHANG Xiwei(Engineering Technology Center,Offshore Oil Engineering Co.,Ltd,Tianjin 300461,China;National Key Laboratory of Autonomous Marine Vehicle Technology,Harbin Engineering University,Harbin 150001,China)
出处
《水下无人系统学报》
2024年第1期57-65,共9页
Journal of Unmanned Undersea Systems
基金
国家重点研发计划(2021YFC2801300)。
关键词
无人水面艇
运动控制
无模型自适应控制
波浪干扰
unmanned surface vessel
motion control
model-free adaptive control
wave disturbance
