Explicit model forecast control-based flight path control method of unmanned surface vehicle

Abstract

The invention discloses an explicit model forecast control-based flight path control method of an unmanned surface vehicle. The explicit model forecast control-based flight path control method comprises the steps of firstly, building a control model of the unmanned surface vehicle, and acquiring position gesture and reference flight path point information of the unmanned surface vehicle; secondly,calculating expected flight speed and heading direction in real time according to a path planning algorithm, and simplifying ship flight path control to heading direction control; and finally, obtaining a rotational speed and a rudder angle of a propeller by a display model forecast control algorithm for the unmanned surface vehicle to achieve ship flight path control. The explicit model forecastcontrol algorithm is applied to the field of flight path control of the unmanned surface vehicle, the complicated on-line optimization process is converted to simple table lookup process by introducing a multi-parameter secondary planning theory, the on-line calculation complexity is reduced, and the real-time performance of a flight path control system is improved.

Description

technical field [0001] The invention relates to unmanned ship track control technology, in particular to an unmanned ship track control method based on explicit model predictive control. Background technique [0002] As an unmanned and intelligent carrier platform, Unmanned Surface Vessel (USV) is widely used in scientific research, business and exploration. Accurate track control is the basis for ensuring safe navigation of ships and saving time and energy, so it has become a research hotspot in the field of ship motion control. [0003] At present, scholars at home and abroad have conducted research on the track control of unmanned ships, and proposed methods such as fuzzy control, backstepping control, and neural networks. However, the above method does not consider the constraints of the ship's maneuvering characteristics, and there are certain limitations in practical applications. [0004] Model predictive control (Model predictive control, MPC) is an advanced intell...

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Problems solved by technology

[0006] However, the above methods all need to repeatedly solve the optimal problem online, the amount of calculation is large, and it is difficult to apply to the system with high real-time requirements.

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