"基于LADRC的无人船航向控制系统Simulink matlab仿真工程:含模糊控制Fuzzy-TD优化及STM32硬件在环仿真功能详解",基于线性自抗扰(LADRC)的无人船航向控制系统系统Sim
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"基于LADRC的无人船航向控制系统Simulink matlab仿真工程:含模糊控制Fuzzy-TD优化及STM32硬件在环仿真功能详解",基于线性自抗扰(LADRC)的无人船航向控制系统系统Simulink matlab仿真工程。内附加有详细说明文档内包含多种附加功能,包括1.基于模糊控制(Fuzzy)的微分跟踪器(TD)优化方案。2.基于STM32 Simulink硬件在环仿真功能。,基于LADRC的无人船航向控制; Simulink matlab仿真工程; 详细说明文档; 附加功能; 模糊控制Fuzzy TD优化; STM32 Simulink硬件在环仿真。,"基于LADRC的无人船航向控制系统的Simulink matlab仿真与多附加功能研究" <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90341614/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90341614/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">基于线性自抗扰<span class="ff2">(<span class="ff3">LADRC</span>)</span>的无人船航向控制系统<span class="_ _0"> </span><span class="ff3">Simulink MATLAB<span class="_ _1"> </span></span>仿真工程</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">一<span class="ff4">、</span>引言</div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">随着无人船技术的不断发展<span class="ff2">,</span>其应用领域越来越广泛<span class="ff2">,</span>如海洋资源开发<span class="ff4">、</span>海洋环境监测<span class="ff4">、</span>海上救援等</div><div class="t m0 x1 h2 y4 ff4 fs0 fc0 sc0 ls0 ws0">。<span class="ff1">无人船的航向控制系统是无人船技术的核心之一<span class="ff2">,</span>其性能直接影响到无人船的航行稳定性和安全性</span></div><div class="t m0 x1 h2 y5 ff4 fs0 fc0 sc0 ls0 ws0">。<span class="ff1">本文将介绍一种基于线性自抗扰<span class="ff2">(<span class="ff3">LADRC</span>)</span>的无人船航向控制系统<span class="ff2">,</span>并使用<span class="_ _0"> </span><span class="ff3">Simulink MATLAB<span class="_ _1"> </span></span>进</span></div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">行仿真工程<span class="ff4">。</span></div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0">二<span class="ff4">、</span>基于<span class="_ _0"> </span><span class="ff3">LADRC<span class="_ _1"> </span></span>的无人船航向控制系统</div><div class="t m0 x1 h2 y8 ff3 fs0 fc0 sc0 ls0 ws0">LADRC<span class="_ _1"> </span><span class="ff1">是一种基于线性自抗扰控制原理的控制方法<span class="ff2">,</span>它可以在不依赖于系统精确模型的情况下<span class="ff2">,</span>对系</span></div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">统进行鲁棒控制<span class="ff4">。</span>在无人船航向控制系统中<span class="ff2">,<span class="ff3">LADRC<span class="_ _1"> </span></span></span>能够有效地抑制外部干扰和模型不确定性带来的</div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">影响<span class="ff2">,</span>提高系统的稳定性和响应速度<span class="ff4">。</span></div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0">三<span class="ff4">、<span class="ff3">Simulink MATLAB<span class="_ _1"> </span></span></span>仿真工程</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">在<span class="_ _0"> </span><span class="ff3">Simulink MATLAB<span class="_ _1"> </span></span>中<span class="ff2">,</span>我们可以建立基于<span class="_ _0"> </span><span class="ff3">LADRC<span class="_ _1"> </span></span>的无人船航向控制系统的仿真模型<span class="ff4">。</span>该模型包</div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">括传感器模块<span class="ff4">、</span>控制器模块<span class="ff4">、</span>执行器模块等<span class="ff4">。</span>通过设置不同的参数和仿真条件<span class="ff2">,</span>我们可以模拟不同情</div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">况下的无人船航行情况<span class="ff2">,</span>并分析控制系统的性能<span class="ff4">。</span></div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">四<span class="ff4">、</span>详细说明文档</div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">为保证仿真工程的有效性和可读性<span class="ff2">,</span>我们将添加一份详细说明文档<span class="ff4">。</span>该文档包括以下内容<span class="ff2">:</span></div><div class="t m0 x1 h2 y11 ff3 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">系统概述<span class="ff2">:</span>介绍系统的基本原理和功能<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y12 ff3 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff1">仿真模型<span class="ff2">:</span>详细描述仿真模型的结构和参数设置<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y13 ff3 fs0 fc0 sc0 ls0 ws0">3.<span class="_ _2"> </span><span class="ff1">仿真结果<span class="ff2">:</span>展示不同条件下的仿真结果<span class="ff2">,</span>包括航向响应曲线<span class="ff4">、</span>误差曲线等<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y14 ff3 fs0 fc0 sc0 ls0 ws0">4.<span class="_ _2"> </span><span class="ff1">参数调整<span class="ff2">:</span>介绍如何调整控制器参数以优化系统性能<span class="ff4">。</span></span></div><div class="t m0 x1 h2 y15 ff3 fs0 fc0 sc0 ls0 ws0">5.<span class="_ _2"> </span><span class="ff1">附加功能说明<span class="ff2">:</span>详细介绍基于模糊控制的微分跟踪器优化方案和基于<span class="_ _0"> </span></span>STM32 Simulink<span class="_ _1"> </span><span class="ff1">硬件在</span></div><div class="t m0 x2 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">环仿真功能<span class="ff4">。</span></div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0">五<span class="ff4">、</span>附加功能</div><div class="t m0 x1 h2 y18 ff3 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">基于模糊控制的微分跟踪器优化方案</span></div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">为进一步提高系统的响应速度和稳定性<span class="ff2">,</span>我们采用基于模糊控制的微分跟踪器对<span class="_ _0"> </span><span class="ff3">LADRC<span class="_ _1"> </span></span>进行优化<span class="ff4">。</span>该</div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">方案通过模糊控制算法对微分跟踪器进行自适应调整<span class="ff2">,</span>使系统能够更好地适应不同情况下的航行需求</div><div class="t m0 x1 h3 y1b ff4 fs0 fc0 sc0 ls0 ws0">。</div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>