基于WOA-LQR的无人水翼航行器横航向控制
Lateral-direct control of an unmanned hydrofoil vehicle based on a whale optimization algorithm-linear quadratic regulator(WOA-LQR)
解嵎栋 1段富海1
作者信息
- 1. 大连理工大学 机械工程学院,大连 116024
- 折叠
摘要
针对一种新型的无人水翼航行器在航行过程中受到不规则海浪干扰时的横向姿态与航向控制问题,首先建立无人水翼航行器横向四自由度运动的非线性数学模型,并对数学模型进行线性化处理;然后针对普通线性二次型调节器(linear quadratic regulator,LQR)控制算法手动调试参数效率较低且控制效果难以达到最优的问题,使用鲸鱼优化算法(whale optimization algorithm,WOA)对LQR控制器的参数进行寻优以增强控制效果;最后在不同强度的随机海浪干扰下对航行器的横向姿态与航向控制进行仿真,验证了鲸鱼算法优化LQR的有效性.
Abstract
Changes in the lateral attitude and heading control of a new type of unmanned hydrofoil vehicle when it is disturbed by irregular waves and winds during navigation can cause serious problems.In the light of these prob-lems,a nonlinear mathematical model of lateral four-degree-of-freedom motion of an unmanned hydrofoil was estab-lished,and the mathematical model was linearized.Given that an ordinary linear quadratic regulator(LQR)con-trol algorithm manually debugged the parameters inefficiently and the control effect was difficult to optimize,a whale optimization algorithm was used to optimize the parameters of the LQR controller to enhance the control effect.Finally,the effectiveness of the whale algorithm in optimizing LQR is verified by simulating the lateral atti-tude and heading control under random wave interference of different intensities.
关键词
无人水翼航行器/横向运动建模/随机海浪/线性二次型调节器/鲸鱼优化算法Key words
unmanned hydrofoil vehicle/modeling lateral motion/random waves/linear quadratic regulator(LQR)/whale optimization algorithm引用本文复制引用
出版年
2024
NETL
NSTL
万方数据