无人水面艇目标导航运动航迹优化控制仿真

摘要

无人水面艇目标导航运动航迹优化控制的研究是为了实现自主路径跟踪.风干扰是不可避免的因素,传统采用定常风速模型,导致误差较大,无人艇航迹优化控制的难点技术之一在于为了提高仿真准确度而建立符合实际情况的风速模型.在建立风干扰下无人水面艇数学模型的基础上,提出用西谬(Simiu)与达文波特(Davenport)两种随机风速模型来仿真实际风速模型并将其应用到无人水面艇航迹优化的研究中,仿真出了两种随机风速模型,在两种工况下,得到不同航速和横风作用下的误差分布情况.仿真结果表明,当船速和风速都较大的情况下采用随机风速模型可以有效的减小定常风速模型带来的航迹误差.%The research on target navigation trajectory optimization control of unmanned surface vehicle is to realize the autonomous path tracking.The wind interference is inevitable factor,and the most assumptions about wind models are constant wind,which can lead to large errors.One of the difficult problems in the optimal control of the unmanned craft is to establish a wind speed model in order to improve the accuracy of the simulation.In the paper,we establish a mathematical model of unmanned surface vessel under wind disturbance and propose to use the random wind model to simulate the actual wind speed model and apply it in the study of USV trajectory optimization.We simulate two models of random wind speed.Then,in direct and turning motion,we obtained the distribution of error under the influence of different speed and cross wind.The simulation results show that when the ship speed and wind speed are large,under the condition of the random wind,the model can effectively reduce the track error caused by an unsteady wind speed model.