基于模型预测控制的潜艇水平面航迹控制算法
|
摘要
[目的]为解决潜艇在水平面运动中的航迹控制问题,[方法]首先建立潜艇的水平面动力学和运动学模型,然后通过视线导航法(LOS)建立潜艇的水平面航迹控制误差模型,将水平面的航迹控制问题转化为跟踪动态的期望艏向角问题,最后针对该问题设计基于状态空间形式的模型预测控制算法。[结果]仿真结果表明,提出的LOS与预测控制算法结合的航迹控制算法能够有效解决潜艇的航迹控制问题,且通过模型预测控制算法可解决潜艇方向舵舵角与舵速受约束的问题。[结论]设计的潜艇航迹控制算法对后续航迹控制系统的开发具有参考意义。
[Objectives]This study aims to solve the problem of the track control for submarine in the horizontal plane.[Methods]Firstly,the paper builds dynamics and kinematics model of the submarine in the horizontal plane,then builds the error model of the track control for submarine by Line-of-Sight(LOS)in order to transform the problem of track control in the horizontal plane to the problem of following dynamic expected heading angle. Then the paper designs a model prediction control algorithm based on the state space accordingly.[Results]Simulation results show that the trace control method which combines LOS and the prediction control algorithm can effectively solve the track control problem for submarine,and the model predictive control algorithm can solve the constraint problem of rudder angle and the rudder speed of submarine.[Conclusions]The designed trace control algorithm for submarine can be referential for the subsequent development of track control system.
[Objectives]This study aims to solve the problem of the track control for submarine in the horizontal plane.[Methods]Firstly,the paper builds dynamics and kinematics model of the submarine in the horizontal plane,then builds the error model of the track control for submarine by Line-of-Sight(LOS)in order to transform the problem of track control in the horizontal plane to the problem of following dynamic expected heading angle. Then the paper designs a model prediction control algorithm based on the state space accordingly.[Results]Simulation results show that the trace control method which combines LOS and the prediction control algorithm can effectively solve the track control problem for submarine,and the model predictive control algorithm can solve the constraint problem of rudder angle and the rudder speed of submarine.[Conclusions]The designed trace control algorithm for submarine can be referential for the subsequent development of track control system.
引文
[1]金鸿章,王科俊,梁超.具有横摇补偿控制的潜艇航向变结构控制[J].中国造船,2001,42(2):75-81.Jin H Z,Wang K J,Liang C.Variable structure control of submarine autopilots with roll compensation[J].Shipbuilding of China,2001,42(2):75-81(in Chinese).
[2]李铁山,杨盐生,郑云峰.不完全驱动船舶非线性控制[J].交通运输工程学报,2003,3(4):39-43.Li T S,Yang Y S,Zheng Y F.Nonlinear control of underactuated ships[J].Journal of Traffic and Transportation Engineering,2003,3(4):39-43(in Chinese).
[3]Oh S R,Sun J.Path following of underactuated marine surface vessels using line-of-sight based model predictive control[J].Ocean Engineering,2010,37(2/3):289-295.
[4]Li Z,Sun J,Oh S R.Path following for marine surface vessels with rudder and roll constraints:an MPC approach[C]//Proceedings of 2009 American Control Conference.St.Louis,MO,USA:IEEE,2009.
[5]刘昌鑫,高剑,徐德民.一种欠驱动AUV模型预测路径跟踪控制方法[J].机械科学与技术,2017,36(11):1653-1657.Liu C X,Gao J,Xu D M.A model predictive path following control method for underactuated autonomous underwater vehicles[J].Mechanical Science and Technology for Aerospace Engineering,2017,36(11):1653-1657(in Chinese).
[6]施生达.潜艇操纵性[M].北京:国防工业出版社,1995:159-165.Shi S D.Submarine maneuverability[M].Beijing:National Defense Industry Press,1995:159-165(in Chinese).
[7]程相勤.基于滑模理论的欠驱动UUV空间曲线路径跟踪控制[D].哈尔滨:哈尔滨工程大学,2011:56-59.Cheng X Q.Spatial curvilinear path following of underactuated UUV based on sliding mode theory[D].Harbin:Harbin Engineering University,2011:56-59(in Chinese).
[8]边信黔,牟春晖,严浙平.基于自适应反步法的欠驱动UUV空间路径点跟踪控制[J].中国造船,2011:52(4):38-45.Bian X Q,Mou C H,Yan Z P.Way-point tracking control for underactuated UUV based on adaptive backstepping[J].Shipbuilding of China,2011,52(4):38-45(in Chinese).
[9]Breivik M.Nonlinear maneuvering control of underactuated ships[D].Trondheim,Norway:Norwegian University of Science and Technology,2003:35-36.
[10]龚建伟,姜岩,徐威.无人驾驶车辆模型预测控制[M].北京:北京理工大学出版社,2014.Gong J W,Jiang Y,Xu W.Model predictive control for self-driving vehicles[M].Beijing:Beijing Institute of Technology Press,2014(in Chinese).
[11]邹涛,丁宝苍,张端.模型预测控制工程应用导论[M].北京:化学工业出版社,2010.Zou T,Ding B C,Zhang D.MPC:an introduction to industrial applications[M].Beijing:Chemical Industry Press,2010(in Chinese).
[2]李铁山,杨盐生,郑云峰.不完全驱动船舶非线性控制[J].交通运输工程学报,2003,3(4):39-43.Li T S,Yang Y S,Zheng Y F.Nonlinear control of underactuated ships[J].Journal of Traffic and Transportation Engineering,2003,3(4):39-43(in Chinese).
[3]Oh S R,Sun J.Path following of underactuated marine surface vessels using line-of-sight based model predictive control[J].Ocean Engineering,2010,37(2/3):289-295.
[4]Li Z,Sun J,Oh S R.Path following for marine surface vessels with rudder and roll constraints:an MPC approach[C]//Proceedings of 2009 American Control Conference.St.Louis,MO,USA:IEEE,2009.
[5]刘昌鑫,高剑,徐德民.一种欠驱动AUV模型预测路径跟踪控制方法[J].机械科学与技术,2017,36(11):1653-1657.Liu C X,Gao J,Xu D M.A model predictive path following control method for underactuated autonomous underwater vehicles[J].Mechanical Science and Technology for Aerospace Engineering,2017,36(11):1653-1657(in Chinese).
[6]施生达.潜艇操纵性[M].北京:国防工业出版社,1995:159-165.Shi S D.Submarine maneuverability[M].Beijing:National Defense Industry Press,1995:159-165(in Chinese).
[7]程相勤.基于滑模理论的欠驱动UUV空间曲线路径跟踪控制[D].哈尔滨:哈尔滨工程大学,2011:56-59.Cheng X Q.Spatial curvilinear path following of underactuated UUV based on sliding mode theory[D].Harbin:Harbin Engineering University,2011:56-59(in Chinese).
[8]边信黔,牟春晖,严浙平.基于自适应反步法的欠驱动UUV空间路径点跟踪控制[J].中国造船,2011:52(4):38-45.Bian X Q,Mou C H,Yan Z P.Way-point tracking control for underactuated UUV based on adaptive backstepping[J].Shipbuilding of China,2011,52(4):38-45(in Chinese).
[9]Breivik M.Nonlinear maneuvering control of underactuated ships[D].Trondheim,Norway:Norwegian University of Science and Technology,2003:35-36.
[10]龚建伟,姜岩,徐威.无人驾驶车辆模型预测控制[M].北京:北京理工大学出版社,2014.Gong J W,Jiang Y,Xu W.Model predictive control for self-driving vehicles[M].Beijing:Beijing Institute of Technology Press,2014(in Chinese).
[11]邹涛,丁宝苍,张端.模型预测控制工程应用导论[M].北京:化学工业出版社,2010.Zou T,Ding B C,Zhang D.MPC:an introduction to industrial applications[M].Beijing:Chemical Industry Press,2010(in Chinese).