基于速度选择切换型视线法的无人帆船循迹航行
Unmanned sailing boat path tracking control based on speed selection switching LOS method
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摘要:目的 风帆的力矩以及海浪作用会造成帆船相比其他形式的动力船舶更容易偏离期望轨迹，这便要求无人帆船的循迹航行算法具有较强的抗干扰能力。方法 对实船进行等比例建模并通过VPP速度预测程序获得帆船在不同航向下的较大速度，提出一种无人帆船速度选择切换型视线法，在保证无人帆船依靠风力获取速度的同时，再利用切换型视线法使无人帆船的航向角收敛于期望航向角，从而使无人帆船可以快速不断地驶向期望航向点。结果 Matlab对比仿真研究表明，速度选择型视线法具有偏航误差小、抗干扰能力强且收敛速度较快的优点。结论 无人帆船在不同风向下的湖上试验验证了速度选择型视线法的可行性，结果具有一定的工程应用价值。Abstract:Objectives Because of the moment of sails and the action of sea waves, sailing boats are more likely to deviate from the desired trajectory than other powerboats, raising the requirement that the tracking control algorithm of unmanned sailing boats has strong anti-interference ability.Methods In this paper, the real ship is modeled in geometric proportion and the greater speeds of sailing boats are obtained under different courses using a VPP speed prediction program. A speed selection-based Line of Sight (LOS) method for unmanned sailing boats is proposed. While guaranteeing the speed of unmanned sailing boats obtained by the wind, the method of switching LOS is used to make the course angle of unmanned sailing boats converge to the desired course angle, enabling the boat to quickly and continuously steer to the desired course point.Results Comparative Matlab simulation analysis shows that the speed selection LOS method has such advantages as small yaw error, strong anti-interference ability and fast convergence speed.Conclusions The feasibility of the speed selection-based LOS method has been verified in lake trials under different wind directions, and the results have certain practical engineering value.
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