张子昌, 林莉, 徐雪峰, 赵光. 基于模型预测控制的潜艇水平面航迹控制算法[J]. 中国舰船研究, 2019, 14(3): 172-178. DOI: 10.19693/j.issn.1673-3185.01335
引用本文: 张子昌, 林莉, 徐雪峰, 赵光. 基于模型预测控制的潜艇水平面航迹控制算法[J]. 中国舰船研究, 2019, 14(3): 172-178. DOI: 10.19693/j.issn.1673-3185.01335
Zhang Zichang, Lin Li, Xu Xuefeng, Zhao Guang. Track control algorithm for submarine in the horizontal plane based on model predictive control[J]. Chinese Journal of Ship Research, 2019, 14(3): 172-178. DOI: 10.19693/j.issn.1673-3185.01335
Citation: Zhang Zichang, Lin Li, Xu Xuefeng, Zhao Guang. Track control algorithm for submarine in the horizontal plane based on model predictive control[J]. Chinese Journal of Ship Research, 2019, 14(3): 172-178. DOI: 10.19693/j.issn.1673-3185.01335

基于模型预测控制的潜艇水平面航迹控制算法

Track control algorithm for submarine in the horizontal plane based on model predictive control

  • 摘要:
      目的   为解决潜艇在水平面运动中的航迹控制问题,
      方法   首先建立潜艇的水平面动力学和运动学模型,然后通过视线导航法(LOS)建立潜艇的水平面航迹控制误差模型,将水平面的航迹控制问题转化为跟踪动态的期望艏向角问题,最后针对该问题设计基于状态空间形式的模型预测控制算法。
      结果   仿真结果表明,提出的LOS与预测控制算法结合的航迹控制算法能够有效解决潜艇的航迹控制问题,且通过模型预测控制算法可解决潜艇方向舵舵角与舵速受约束的问题。
      结论   设计的潜艇航迹控制算法对后续航迹控制系统的开发具有参考意义。

     

    Abstract:
      Objective   This study aims to solve the problem of the track control for submarine in the horizontal plane.
      Methods   Firstly, the paper builds dynamics and kinematics model of the submarine in the horizontal plane, then builds the error model of the track control for submarine by Line-of-Sight (LOS)in order to transform the problem of track control in the horizontal plane to the problem of following dynamic expected heading angle. Then the paper designs a model prediction control algorithm based on the state space accordingly.
      Results   Simulation results show that the trace control method which combines LOS and the prediction control algorithm can effectively solve the track control problem for submarine, and the model predictive control algorithm can solve the constraint problem of rudder angle and the rudder speed of submarine.
      Conclusion   The designed trace control algorithm for submarine can be referential for the subsequent development of track control system.

     

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