Research On Target Searching And Tracking Method With High Speed Planning Boat

The research object of this dissertation is a kind of high-performance gliding boat which is a high-speed planning boat.Due to its higher speed,excellent wave resistance,and excellent maneuverability,it is widely used in the field of investigation and search and rescue.For the characteristics of high-speed planning boats,this paper studies the design of its track tracking controller.In order to complete the design of the corresponding controller and make it robust and able to converge to a given track within a limited time,the thesis carried out the following work:First,the appendage coordinate system and the inertial coordinate system are introduced.Then the six-degree-of-freedom mathematical model of ship control is derived from the Euler angle conversion formulas of the appendage coordinate system and the inertial coordinate system.The six-degree-of-freedom dynamic model of ship is derived from the momentum theorem and the momentum-mass theorem,and the force model of the ship model is analyzed based on the MMG principle.Based on the well model,the calculation formula of the hydrodynamic force and the estimation formula of its coefficient are given.The environmental disturbance forces are analyzed and the calculation method is given.Finally,the six-degree-of-freedom mathematical model is simplified,a four-degree-of-freedom kinematics model and a dynamic model are established,and simulation experiments are performed to verify its open-loop characteristics.Secondly,the sight line method(LOS)is selected as the navigation algorithm of the control system.In the design of the straight-line segment LOS,the lateral error is introduced into the design of the lead distance;the parameterized curve is used in the design of the curve segment LOS,and the position of the next tracking point is given according to the slope of the designed curve parameter for updating the desired steering angle.Then,a dynamic terminal sliding mode controller is designed for track following problem.The application of terminal sliding mode control makes the system error converge to zero within a limited time.In order to enhance the robustness of the system and reduce the chattering of the sliding surface,this paper designed dynamic sliding mode controller,which makes the discontinuity in the system transfer to the high-order system in the form of a derivative.Dynamic sliding mode control rate that is continuous in time and converges within the effective time.Finally,on the basis of the conventional fast terminal sliding mode controller,a fuzzy terminal sliding mode controller is designed for the switching gain phase of the sliding mode surface approach,so that the system switches with the change of the switching surface and the derivative of the switching surface.The gain term is adjusted adaptively to further reduce the convergence time and reduce the chattering of the sliding surface.