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一种USV的航迹闭环控制方法
Alternative TitleUSV track closed-loop control method
冯亮; 刘阳; 刘肖宇; 汤哲; 王子庆
Department海洋信息技术装备中心
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明涉及一种USV的航迹闭环控制方法,设定目标航行路径,且判断位置传感器和姿态传感器是否处于安全工作状态,USV根据位置传感器和姿态传感器发送的实时位置信息和姿态信息计算偏离预定航线的距离,如果该距离小于设定距离,则延时等待,根据目标航行路径、当前偏离预定航线的距离、位置和姿态信息,计算目标航向角ψr(k);根据目标航向角ψr(k)、当前航向角ψ(k)和航向角速度Δψ(k),计算目标喷嘴角ωr(k);根据目标喷嘴角ωr(k)、当前喷嘴角ω(k)和喷嘴角速度Δω(k),计算输出动作量,进而控制USV动作。本发明采用PID经典控制理论与在线参数辨识并更新技术相结合的方法,适合USV在复杂海洋环境下的非线性时变模型系统,实现航迹闭环控制。
Other AbstractThe method involves calculating the distance from the predetermined course. The target heading angle is calculated, according to the target navigation path, current distance from the scheduled route, position and attitude information. The target nozzle angle is calculated, according to the target heading angle, current heading angle and heading angular speed. The amount of output action is calculated, according to the target nozzle angle, current nozzle angle and nozzle angular velocity in order to control the USV movement.
PCT Attributes
Application Date2016-11-30
2018-06-05
Date Available2019-12-03
Application NumberCN201611076983.2
Open (Notice) NumberCN108121338A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/21958
Collection海洋信息技术装备中心
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
冯亮,刘阳,刘肖宇,等. 一种USV的航迹闭环控制方法[P]. 2018-06-05.
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