摘要
为了提高无人船行驶路径跟踪控制精度,提出一种基于改进视线(LOS)算法与改进比例-积分-微分(PID)控制的无人船行驶路径跟踪控制方法.通过采用粒子群优化(PSO)算法优化PID控制器对无人船航向进行跟踪,采用自适应接纳圆改进LOS算法对无人船航迹进行跟踪,以实现无人船行驶路径的跟踪控制.仿真结果表明:所提方法在有干扰情况下,平均舵角、平均误差、平均航速分别为0.40°、12.36 m、1.84 m/s;在无干扰情况下,平均舵角、平均误差、平均航速分别为0.17°、5.22 m、1.06 m/s,具有良好的跟踪控制精度和速度.
Abstract
To improve the accuracy of driving path tracking control for unmanned ships,a tracking control method based on im-proved line of sight(LOS)algorithm and the improved proportional-integral-derivative(PID)control is proposed.The method uses particle swarm optimization(PSO)algorithm to optimize PID controller for tracking the direction of unmanned ships,and uses adaptive acceptance circle improved LOS algorithm to track the trajectory of unmanned ships,achieving driving path track-ing control of unmanned ships.The simulation results show that the proposed method has an average rudder angle,average er-ror,and average speed of 0.40°,12.36 m,and 1.84 m/s,respectively,in the presence of interference.In the absence of inter-ference,the average rudder angle,average error,and average speed are 0.17°,5.22 m,and 1.06 m/s,respectively,with good tracking control accuracy and speed.
基金项目
广东省大学生创新创业训练计划(S202310559038)
广东省科技创新战略专项资金(大学生科技创新培育)重点项目(pdjh2024a050)
维普
万方数据