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首页> 外文期刊>Mathematical Problems in Engineering >Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research
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Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

机译：舱推进无人机的建模与辨识及其航向控制研究。

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摘要

The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.
机译：建立并确定了荚装推进无人水面舰艇的响应模型。然后考虑到USV具有高速度的特点，提出了收敛速度快的过程控制器。 MMG分离建模的思想被用来建立荚式推进USV的三自由度平面运动模型，然后将该模型简化为响应模型。然后在野外实验的基础上，采用系统辨识的方法得到响应模型的参数。 USV与普通船不同，具有速度快，体积小的优点，因此控制器需要快速收敛速度和强大的鲁棒性。基于多模式控制理论，提出了一种快速非奇异终端滑模（FNTSM）过程控制器。为了减少系统的抖动，使用扰动观测器来补偿扰动以减小控制增益，并应用RBF神经网络来近似符号函数。同时，采用模糊算法实现模式的软切换，避免了模式切换时不必要的抖动。最后，通过仿真和比较研究证明了所提出的控制方法的快速性和鲁棒性。

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  • 来源
    《Mathematical Problems in Engineering》 |2017年第2017期|3209451.1-3209451.13|共13页
  • 作者

    Mu Dongdong; Wang Guofeng; Fan Yunsheng; Zhao Yongsheng;

  • 作者单位

    Univ Dalian Maritime, Sch Informat Sci & Technol, Dalian 116026, Liaoning, Peoples R China;

    Univ Dalian Maritime, Sch Informat Sci & Technol, Dalian 116026, Liaoning, Peoples R China;

    Univ Dalian Maritime, Sch Informat Sci & Technol, Dalian 116026, Liaoning, Peoples R China;

    Univ Dalian Maritime, Sch Informat Sci & Technol, Dalian 116026, Liaoning, Peoples R China;

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