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| 端口受控哈密顿方法的电力双推进无人船航向航速控制 |
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吕成兴1,2,3,4, 于海生1, 周忠海2,3,4, 臧鹤超2,3,4, 张风丽2,3,4, 张照文2,3,4
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1.青岛大学 自动化与电气工程学院;2.齐鲁工业大学(山东省科学院), 山东省科学院海洋仪器仪表研究所;3.山东省海洋环境监测技术重点实验室;4.国家海洋监测设备工程技术研究中心
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| 摘要: |
| 以电力双推进无人船航速航向控制为主要研究问题, 使用永磁同步电机作为无人船螺旋桨的驱动电机, 采用基于端口受控哈密顿(PCH)方法, 有效的降低了系统损耗, 使无人船驱动系统输出功率得到了优化。仿真结果表明, 系统能较快达到稳定状态, 实现了无人船的速度控制要求, 提升了无人船系统的续航能力。 |
| 关键词: 端口受控哈密顿方法 航速航向控制 无人船 永磁同步电机 |
| DOI：10.11759/hykx20171011023 |
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| 基金项目:国家自然基金面上项目(61573203); 国家重点研发计划项目(2016YFC1400802) |
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| Speed and heading control of unmanned surface vehicles system based on port-controlled hamiltonian (PCH) control method |
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LÜ Cheng-xing,YU Hai-sheng,ZHOU Zhong-hai,ZANG He-chao,ZHANG Feng-li,ZHANG Zhao-wen
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| Abstract: |
| This study investigates the speed and heading control problem of unmanned surface vehicles. Permanent magnet synchronous motor serves as the propeller for unmanned surface vehicles. To control their speed, a control strategy based on port-controlled Hamiltonian system is proposed to reduce the system energy consumption. Simulation results show that the controller can achieve a fast dynamic response and greatly minimize energy loss. In addition, the proposed control strategy enhances the endurance of an unmanned surface vehicle. |
| Key words: Port-controlled Hamiltonian speed and heading control unmanned surface vehicle permanent magnet synchronous motor |