Station Keeping Guidance Strategy Based on Course Constraint for Unmanned Surface Vehicles

doi:10.16183/j.cnki.jsjtu.2020.148

Abstract

Abstract:

Aimed at the problem that the position and heading angle constrains of under-actuated unmanned surface vehicle (USV) cannot be taken into account at the same time in the position and attitude maintenance control, a strategy based on course constrains for the station keeping control of USV is proposed. First, a new fixed coordinate system based on the desired position and heading of USV is established. The coordinate system is divided into the reachable regions A and B, and unreachable region C. When the USV is in reachable region, it can return to the desired position and heading while it is able to avoid exceeding the desired heading angle range due to the inability to produce a lateral motion. Then different guidance strategies in different regions are used, which strictly restrict the course angle of the USV during the guidance process. Finally, the desired velocity and course angle are generated by the guidance strategy. The controller generates the execution and the USV quickly returns to the desired position and heading. The guidance strategy based on the course constraint incorporates the course constraint from the inner control into the outer guidance. As the USV implements different strategies in different regions, the desired position and heading and the inner loop control realize the station keeping of the USV. The outer loop guidance and inner loop control constraints are combined to take into account the under-actuated characteristics of the USV, which also simplifies the complexity of the controller design. The simulation experiments have proved the feasibility and effectiveness of the guidance strategy.

Key words: station keeping, unmanned surface vehicle (USV), guidance strategy

CLC Number:

TP273

LI Pengbo, YUAN Mingzhe, XIAO Jinchao, XIONG Junfeng. Station Keeping Guidance Strategy Based on Course Constraint for Unmanned Surface Vehicles[J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 987-993.

Figures/Tables 12

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References 10

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参数	取值
a	-0.005
b	0.004
T_r	23.1280
K_r	0.5149
T_β	43.5650
K_β	-1.0755

参数	取值
航向角PID	P=30,I=0,D=15
前向速度PID	P=200,I=0,D=0
航向角扰动n₁(t)/[(°)·s^-1]	4sin(π²t)
纵荡速度扰动n₂(t)/(m·s^-1)	3sin(π²t)
横漂速度扰动n₃(t)/(m·s^-1)	0.5sin(π²t)

条件/m	位置平均误差/m	位置标准差/m	首向角平均误差/(°)	首向角标准误差/(°)
R_e=0,d_e=0	1.02	0.62	14.12	8.74
R_e=0,d_e=0.3	0.86	0.59	14.30	8.99
R_e=0.1,d_e=0.1	0.91	0.56	13.29	8.54
R_e=0.1,d_e=0.3	0.72	0.48	11.44	8.34
R_e=0.4,d_e=0.1	0.61	0.67	14.82	13.41

分组	控制策略	位置平均误差/m	位置标准差/m	首向角平均误差/(°)	首向角标准差/(°)
1	本文策略	0.95	0.54	13.43	8.95
	PD控制	0.54	0.31	30.79	26.09
2	本文策略	1.08	0.89	14.24	11.03
	PD控制	0.56	0.47	41.93	31.75
3	本文策略	1.06	0.41	15.32	10.17
	PD控制	0.59	0.32	44.41	34.79