Chinese Journal of Ship Research, Volume. 19, Issue 1, 145(2024)
Unmanned sailboat trajectory tracking method based on model predictive control
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Table 1. Parameters for the unmanned sailboat model
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参数 数值 整船质量p1/kg 230 前向附加质量系数p2 −23 横向附加质量系数p3 −117.01 艏摇附加质量系数p4 −172.91 艏摇转动惯量p5/(kg·m2) 44.91 舵的纵向位置p6/m 1.2 帆的面积p7/m2 1.6 舵的面积p8/m2 0.048 龙骨面积p9/m2 0.127 空气密度p10/(kg·m−3) 1.2 海水密度p11/(kg·m−3) 1 025 偏航阻尼系数p12 100 船体阻力系数p13 5.825 船体阻力系数p14 −9.567 船体阻力系数p15 2.13 舵的升阻系数p16 2.2 帆的升阻系数p17 1.8 龙骨升阻系数p18 1.5 帆的纵向位置p19/m 0.29
Table 2. Simulation working condition design
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工况 风向 航行要求 目的 工况1 顺风，风向变化 跟踪直线轨迹 验证跟踪直线能力 工况2 顺风，风向变化 跟踪曲线轨迹 验证帆船转弯能力 工况3 逆风，风向固定 折线航行 验证逆风航行能力
Table 3. Weight design for small lateral offset under downwind conditions
View tableView in ArticleTable 3. Weight design for small lateral offset under downwind conditions
目标 权重设置 x y $ \psi $ u v r 横向偏移 一级优先 三级优先 四级优先 五级优先 前向偏移 二级优先 三级优先
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Jinheng JIA, Yan HUANG, Wentao ZHAO, Zhaoyang SUN, Minxiu YAN. Unmanned sailboat trajectory tracking method based on model predictive control[J]. Chinese Journal of Ship Research, 2024, 19(1): 145
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Received: Nov. 2, 2022
Accepted: --
Published Online: Mar. 18, 2025
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