[1]韩鹏,刘志林,周泽才,等.基于LOS法的自航模航迹跟踪控制算法实现[J].应用科技,2018,45(03):66-70.[doi:10.11991/yykj.201706005]
 HAN Peng,LIU Zhilin,ZHOU Zecai,et al.Path tracking control algorithm based on LOS method for surface self-propulsion vessel[J].yykj,2018,45(03):66-70.[doi:10.11991/yykj.201706005]
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基于LOS法的自航模航迹跟踪控制算法实现(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第45卷
期数:
2018年03期
页码:
66-70
栏目:
自动化技术
出版日期:
2018-05-05

文章信息/Info

Title:
Path tracking control algorithm based on LOS method for surface self-propulsion vessel
作者:
韩鹏1 刘志林1 周泽才2 唐昊1 班良1 郝留磊2
1. 哈尔滨工程大学 自动化学院, 黑龙江 哈尔滨 150001;
2. 哈尔滨工程大学 船舶工程学院, 黑龙江 哈尔滨 150001
Author(s):
HAN Peng1 LIU Zhilin1 ZHOU Zecai2 TANG Hao1 BAN Liang1 HAO Liulei2
1. College of Automation, Harbin Engineering University, Harbin 150001, China;
2. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China
关键词:
自航模航迹跟踪航向控制视线法MATLAB仿真PID控制器期望航向点
Keywords:
surface self-propulsion vesselpath trackingheading controlLOS algorithmMATLAB simulationPID controllerexpected heading point
分类号:
TP273
DOI:
10.11991/yykj.201706005
文献标志码:
A
摘要:
为解决实验室环境下的小型自航模能快速、准确、稳定地实现航迹跟踪问题,利用视线法(line of sight, LOS)将自航模的位置跟踪问题转化为自航模的航向控制问题,通过PID控制器,使自航模的航向角收敛于期望航向角,从而使自航模不断驶向期望航向点。通过设置不同的期望航向点,实现自航模航迹跟踪控制。之后通过MATLAB对其进行仿真研究,验证了其可行性。最后将其用于实验室环境下的自航模航迹跟踪,得到了良好的效果,进一步验证了其工程实用性。
Abstract:
Aiming at the small self-propelled model in the laboratory environment, the paper discussed how to realize the path tracking quickly, accurately and stably. The problem of path tracking of the self-propelled model was transformed into the heading control problem of the self-propelled model by the Line of Sight algorithm. Via the PID controller, the heading angle of the self-propelled model converged to the desired course angle, so that the self-propelled model continuously headed towards the desired course point. By setting different expected heading points, the path tracking control of the self-propelled model was realized. Subsequently, through the MATLAB simulation, the feasibility was verified. Finally, the algorithm was used for the path tracking of the self-propelled flight in the laboratory environment, a good effect was obtained and the engineering practicability was further verified.

参考文献/References:

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相似文献/References:

[1]李明,李铜桥.基于非奇异终端滑模的欠驱动UUV航迹跟踪控制[J].应用科技,2018,45(02):11.[doi:10.11991/yykj.201704015]
 LI Ming,LI Tongqiao.Path-following control for an underactuated UUV based on non-singular terminal sliding mode[J].yykj,2018,45(03):11.[doi:10.11991/yykj.201704015]

备注/Memo

备注/Memo:
收稿日期:2017-06-07。
基金项目:国家自然科学基金项目(51379044)
作者简介:韩鹏(1997-),男,本科生;刘志林(1977-),男,副教授,博士
通讯作者:韩鹏,E-mail:1210161598@qq.com
更新日期/Last Update: 2018-06-14