The invention provides an unmanned sailing boat motion control method with limited sail input. The method comprises the following steps: constructing an unmanned sailboat kinematics model, and performing dynamics reasoning; based on the constructed unmanned sailboat kinematics model, designing a discrete system sail power control input limited lower boundary; based on a nonparametric dynamic linearization technology, sailboat course control is converted into a full-format equivalent data model, and an MFAC is applied to control the course. According to the method, the situation that the unreasonable sail unfolding angle can apply large overturning moment to the sailboat, so that the posture of the sailboat changes greatly is considered, the dynamic performance of the sailboat is affected, and the risk that the sailboat body overturns exists seriously. Therefore, a sailboat heeling constraint model is constructed for a discrete system to solve the problem that the input of a sail controller is limited. Meanwhile, aiming at rudder angle control, a full-format model-free adaptive control technology is applied to an unmanned sailboat navigation control system, so that the problems that an unmanned sailboat model is unknown and the transient response is poor are solved.
本发明提供一种具有风帆输入受限的无人帆船运动控制方法。本发明方法,包括:构建无人帆船运动学模型,并进行动力学推理;基于构建的无人帆船运动学模型,设计离散系统风帆动力控制输入受限下边界;基于非参数动态线性化技术,将帆船航向控制转化为全格式等效数据模型,并应用MFAC对航向进行控制。本发明考虑到不合理的展帆角会对帆船施加较大的倾覆力矩,使得帆船的姿态发生较大的变化,这不仅会影响帆船动力性能,严重则还会存在船体倾覆的风险。因此针对离散系统构建帆船横倾约束模型,来解决风帆控制器输入受限的问题。同时,针对舵角控制将全格式无模型自适应控制技术,应用于无人帆船航行控制系统,以解决无人帆船模型未知、瞬态响应差的问题。
Unmanned sailing boat motion control method with limited sail input
一种具有风帆输入受限的无人帆船运动控制方法
2023-07-18
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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