基于速度调节的无人帆船机器人自适应航向保持控制-豆柴文库

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基于速度调节的无人帆船机器人自适应航向保持控制
Abstract:
Inrecentyears,thedevelopmentofunmannedsailboatrobotshasbeenwidelystudied.However,traditionalcontrolmethodscannotfullyguaranteethestabilityofthesailboat'sheadingundercomplexmaritimeenvironments.Thispaperproposesanadaptiveheadingcontrolalgorithmbasedonspeedadjustmenttomaintainstablenavigationofunmannedsailboatrobotsthatcouldhandlehighlydynamicsituations.Byadjustingthevelocityaccordingtoexternaldisturbances,thesailboatisabletomaintainitsheadingwithgreatprecision,effectivelysolvingtheproblemofdriftingcausedbyexternaldisturbances.
Introduction:
Theunmannedsailboatrobotisanimportantstepinthedevelopmentofautonomousships.Itsenergy-saving,environmentally-friendly,andsafepropertiesmakeitanidealdeviceformarinemonitoring,seabedsurveying,andoffshoreexploration.However,duetotheconstantlychangingenvironmentoftheocean,thenavigationcontrolofunmannedsailboatrobotsischallenging.Inthispaper,anadaptiveheadingcontrolalgorithmbasedonspeedadjustmentisproposedtosolvethisproblem.Thealgorithmmainlymodifiesthesailboat'ssailplantoadjustitsvelocityanddirection,reducingtheeffectofdisturbanceontheheadingincomplexsituations.
ControlAlgorithm:
Thecontrolalgorithmproposedinthispaperconsistsoftwoparts:speedadjustmentandadaptiveheadingcontrol.Thevelocitycontrolisresponsibleforregulatingthesailboat'sspeed,whiletheadaptiveheadingcontrolretainsthesailboat'sinitialheadingunderdisturbances.Inthefollowing,thealgorithmimplementationwillbeexplainedindetail.
1.SpeedAdjustment:
Thesailboat'svelocityisadjustedtoimproveitsabilitytoresisttheexternaldisturbancesbyexpandingorshrinkingthesailarea.Theadjustmentofthesailareaisdeterminedbycombiningthesteeringangle,windspeed,anddirection,andthecurrentwaterandsailboatspeeds.Informulaform,thesailareaSiscalculatedas:
S=K1*Va+K2*Vc+K3*Vw
whereVaandVcaretheapparentandcurrentwatervelocities,respectively.K1,K2,andK3arecoefficientsofthesevelocities,respectively.
2.AdaptiveHeadingControl:
Thesailboat'sadaptiveheadingcontrolisresponsibleforadjustin