• Chinese Journal of Ship Research
  • Vol. 19, Issue 1, 145 (2024)
Jinheng JIA1,2,3, Yan HUANG2,3, Wentao ZHAO2,3, Zhaoyang SUN2,3, and Minxiu YAN1
Author Affiliations
  • 1College of Information Engineering, Shenyang University of Chemical Technology, Shenyang 110142, China
  • 2State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang 110016, China
  • 3Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
  • show less
    DOI: 10.19693/j.issn.1673-3185.03162 Cite this Article
    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 Copy Citation Text show less
    [in Chinese]
    Fig. 1. [in Chinese]
    [in Chinese]
    Fig. 2. [in Chinese]
    [in Chinese]
    Fig. 3. [in Chinese]
    [in Chinese]
    Fig. 4. [in Chinese]
    [in Chinese]
    Fig. 5. [in Chinese]
    [in Chinese]
    Fig. 6. [in Chinese]
    [in Chinese]
    Fig. 7. [in Chinese]
    [in Chinese]
    Fig. 8. [in Chinese]
    [in Chinese]
    Fig. 9. [in Chinese]
    参数数值
    整船质量p1/kg230
    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/m1.2
    帆的面积p7/m21.6
    舵的面积p8/m20.048
    龙骨面积p9/m20.127
    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p12100
    船体阻力系数p135.825
    船体阻力系数p14−9.567
    船体阻力系数p152.13
    舵的升阻系数p162.2
    帆的升阻系数p171.8
    龙骨升阻系数p181.5
    帆的纵向位置p19/m0.29
    Table 1. Parameters for the unmanned sailboat model
    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 2. Simulation working condition design
    目标权重设置
    xy$ \psi $uvr
    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
    Table 3. Weight design for small lateral offset under downwind conditions
    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
    Download Citation