Unmanned surface ship track tracking method based on actuator faults

Abstract

The invention discloses an unmanned surface ship track tracking method based on actuator faults, comprising the following steps: S1: analyzing various types of information of actuator faults, and modeling the actuator faults of an unmanned ship; S2: performing coordinate conversion of the velocity [Nu] in a mathematical model M1 of the unmanned surface ship in S1 to obtain a new velocity [Omega] and a new model M1'; S3: establishing an actuator fault observation device based on a track and speed tracking error model M in S2, and reconfiguring the actuator faults and external disturbance; S4: according to the track and speed tracking error model M in S2, establishing an integral sliding mode surface and a precise track tracking control law [Tau] of the unmanned surface ship with actuator faults; and S5: measuring the actual unmanned ship position to determine whether the unmanned surface ship reaches the end point of the actual track [Eta]d in S1.

Description

technical field [0001] The invention relates to the fields of ship control engineering and ship automatic navigation, in particular to a track tracking method for an unmanned surface ship based on actuator failure. Background technique [0002] At present, in the field of ship track tracking technology, the use of a certain control algorithm is the core of unmanned surface vehicles. It can not only make unmanned surface vehicles operate safely and reliably according to the established tasks, but also enhance its robustness and improve anti-interference ability. . Common unmanned ship control algorithms include PID, backstepping, sliding mode, fuzzy neural network, etc. [0003] In literature [1], for the "Charlie" unmanned surface vessel, the self-oscillation model identification method is used to identify its parameters, and a PID heading controller is designed. The sea experiment verification can show good results. In order to further strengthen the control performance o...

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Problems solved by technology

[0009] 1. The existing method can only ensure that the tracking error can be stabilized to zero or a neighborhood near zero when the time tends to infinity, asymptotic convergence, slow convergence speed, low control accuracy, weak anti-interference and fault tolerance , it is difficult to achieve precise track tracking control of unmanned surface ships

[0010] 2. When the existing methods solve the track tracking problem of unmanned surface ships, few scholars consider the problem of actuator failures suffered by unmanned surface ships. The fault tolerance to unknown faults is poor, and it is difficult to ensure the safety of system operation.

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