Control For Motorized Buoy Course Keeping And Path Following Based On Model Predictive Control

Strengthening the construction of marine national defense,and accelerating the exploration and development of marine resources have put forward increasingly high requirements for marine technology.As a modern marine monitoring equipment,marine buoy plays a crucial role in monitoring marine environmental information.As an intelligent mobile buoy,motorized buoy can complete the task of autonomous navigation and fixed-point monitoring.However,the motorized buoy itself relies on the battery as an energy source and cannot supplement energy in the work process.Therefore,it is of great significance to study how to reduce unnecessary energy loss and improve the battery life of motorized buoy.Combined with the model predictive control theory,this paper studies the course keeping and path following control technology of motorized buoy.The main research contents are as follows:Firstly,the outline structure of the motorized buoy is summarized,and its six degree-offreedom mathematical model is established combined with its own structure.Considering the characteristics of the motorized buoy,the model is simplified,and its horizontal three degreeof-freedom model is obtained.In order to get more closely real simulation results,considering the possible environmental interference encountered by the motorized buoy,the wave and current interference model is established.Secondly,aiming at the course keeping control problem of the motorized buoy,the model predictive control method is used to design the course keeping controller of the motorized buoy,and the effectiveness of the controller is proved by simulation.In addition,compared with PID control,it is proved that the controller designed in this paper has better control performance.Then,according to the practical application requirements of the path following control of the motorized buoy,the path following controller of the motorized buoy is designed by combining the course keeping controller designed in this paper with an improved LOS guidance algorithm.The traditional LOS guidance algorithm is improved,and a LOS guidance algorithm based on time-varying virtual guidance distance is obtained.At the same time,a calculation method of advance steering distance considering steering angle and motorized buoy speed is designed.Then the guidance algorithm is combined with the course keeping controller designed in this paper,and the path following control system of the motorized buoy is designed in the form of double closed loop.Subsequently,through comparative simulation experiments,it is verified that the path following controller designed in this paper can achieve good path following control effect.Finally,in order to reduce the unnecessary energy loss of the motorized buoy,the rudder energy loss of the motorized buoy is taken into account,and a more energy-saving path following controller of the motorized buoy is designed.Aquila Optimizer is introduced to complete the solution of the control quantity.Ultimately,through comparative simulation,it is proved that the improved controller can achieve more energy-saving control performance while maintaining superior track control effect.