mainopticontrol20121005foralex.zip_MMG_MMG控制_航迹控制_船舶 控制_船舶运动航迹

%增广状态罚函数法实现船舶避碰最短路径控制程序 %2012.10.1 xiong yong 熊勇 qq:76289035 %bear_brave@163.com function mainopticontrol20121005foralex clear all clc diedai=5; buchang=1; timechang=100; deltaini=zeros(1,timechang); chujiao=0.2; y0=[0; 0; chujiao; 0; 9.2; 0; 0; 0; 0]; vlami=5; xjiyi=zeros(timechang,9); xjiyi2=zeros(timechang,9); mp=zeros(6,1); mp(2)=5; mp(3)=1500; mp(4)=4; mp(5)=1500; mp(6)=600; af=7; mu=0.05; ddp=pi/6; mjo=zeros(1,diedai); kx=zeros(1,timechang); ky=zeros(1,timechang); deltaini=zeros(1,timechang); deltaini(1,:)=0.3; for i=1:diedai jisuanzhibiao=i for j=1:2:timechang mp(1)=deltaini(j); tspan=[(j-1)*buchang, j*buchang, (j+1)*buchang]; [t,yy]=ode45(@xitongf,tspan,y0,[],mp); y0=yy(end,:); xjiyi(j:j+1,:)=yy(2:3,:) end y02=zeros(1,9); y02(1)=(-1)*vlami*xjiyi(end,2)*xjiyi(end,1)^(-2) y02(2)=vlami*xjiyi(end,1)^(-1) for j2=timechang:-2:1 mp(1)=deltaini(j2); tspan2=[(j2+1)*buchang,j2*buchang,(j2-1)*buchang]; [t,yy]=ode45(@xietong,tspan2,y02,[],mp, xjiyi(j2,:)) y02=yy(end,:); xjiyi2(j2+1,:)=yy(1,:); xjiyi2(j2,:)=yy(2,:); end for j3=1:timechang mp(1)=deltaini(j3); phamilton(j3*buchang,xjiyi(j3,:),xjiyi2(j3,:),mp) deltaini(j3)=deltaini(j3)-af*phamilton(j3*buchang,xjiyi(j3,:),xjiyi2(j3,:),mp); if deltaini(j3)<=-ddp deltaini(j3)=-ddp; elseif deltaini(j3)>=ddp deltaini(j3)=ddp; end end jo=0; for j4=1:timechang jo=jo+sqrt(xjiyi(j4,1)^2+xjiyi(j4,2).^2)*buchang; end mjo(i)=jo; if (i-1)>0&abs(mjo(i-1)-mjo(i))/abs(mjo(i))<=mu; break end end for j4=1:timechang kx(j4)=mp(2)*j4*buchang+mp(3); ky(j4)=mp(4)*j4*buchang+mp(5); end plot(xjiyi(:,1),xjiyi(:,2)) hold on plot(kx,ky) figure plot(mjo) figure plot(deltaini) function dy=xitongf(t,y,mp) dy=zeros(9,1); x0=y(1); y0=y(2); bosai=y(3); FAI=y(4); u=y(5); v=y(6); r=y(7); p=y(8); delta=mp(1); a1=mp(2); a01=mp(3); b1=mp(4); b01=mp(5); r1=mp(6); m=55000*10^3; L=280; D=9.45; B=35.5; midu=1000; CB=0.597; ZG=14; H=2.9; T=0.058*D; Dp=4.3; np=3; tp=0.08; b1=6.5; b2=4.6; P=3.7; hR=7.2; epxlong=0.92; hs=6.9; V=sqrt(u^2+v^2); RP=r*L/V; Beita=atan(-v/u); % 各纬度惯性矩及附加质量的计算 IZ=m*(1+CB^4.5)+(L^2+B^2.4)/24; m11=m*(1/100)*(0.398+11.98*CB*(1+3.73*(D/B))-(2.89*CB*(L/B))*(1+1.13*(D/B))+0.175*CB*(L/B)^2*(1+0.541*(D/B))-1.107*(L/B)*(D/B)); m22=m*(0.882-0.54*CB*(1-1.6*(D/B))-0.156*(1-0.673*CB)*(L/B)+0.826*(D/B)*(L/B)*(1-0.678*(D/B))-0.638*(L/B)*(D/B)*(1-0.669*(D/B))); m66=m*(L*0.01*(33-76.85*CB*(1-0.784*CB)+3.43*(L/B)*(1-0.63*CB)))^2; %m26=0.5*pi*MIDU*(L*D)^2*(0.67*(B/L)-0.0033*(B/D)^2); %纵向水动力的计算 Xu=59.12*u^4-462.8*u^3+8775*u^2+28940*u+67640; XVR=(1.6757*CB-0.5054-1)*m22; XH=XVR*v*r-Xu; %横向水动力的计算 K=2*D/L;TP=T/D; Yv=-0.5*midu*L*D*V*(pi*K/2+1.4*CB*(B/L))*(1+0.67*TP); Yr=0.5*midu*L^2*D*V*(pi*K/4)*(1+0.8*TP); Yvv=0.5*midu*L*D*(0.048265-6.293*(1-CB)*(D/B)); Yvr=0.5*midu*L^2*D*(-0.3791+1.28*(1-CB)*(D/B)); Yrr=0.5*midu*L^3*D*(0.0045-0.445*(1-CB)*(D/B)); YH=Yv*v+Yr*r+Yvv*v*abs(v)+Yvr*r*abs(v)+Yrr*r*abs(r); %首摇力矩的计算 Lv=K/(0.5*pi*K+1.4*CB*(B/L)); Nv=-0.5*midu*L^2*D*V*K*(1-0.27*TP/Lv); Nr=-0.5*midu*L^3*D*V*(0.54*K-K^2)*(1+0.3*TP); Nvvr=0.5*midu*L^3*D*(-6.0856+137.4735*CB*(B/L)-1029.514*(CB*(B/L))^2+2480.6082*(CB*(B/L))^3); Nvrr=0.5*midu*L^4*D*(-0.0635+0.044145*CB*(D/B)); Nrr=0.5*midu*L^4*D*(-0.0805+8.6092*(CB*(B/L))^2-36.9816*(CB*(B/L))^3); Nvfai=0.5*midu*L^2*D*V*(-1.72*K); Nrfai=0.5*midu*L^3*D*V*(2.6*(0.54*K-K^2)); Nfai=0.5*midu*L^2*D*V^2*(-0.008); NH=Nv*v+Nr*r+Nvvr*v^2*r+Nrr*r*abs(r)+Nvrr*v*r^2+Nfai*FAI+Nvfai*v*abs(FAI)+Nrfai*r*abs(FAI); %横倾力矩的计算 Np=0.12*sqrt((m*(B^2+4*ZG^2)/(12))*H*m*9.8); GZFAI=H*sin(FAI); ZH=ZG-(4-B/D+0.02*(B/D-5.35)^3)*D; KH=-Np*p-m*9.8*GZFAI-YH*ZH; %螺旋桨纵向推进力计算 wp0=0.5*CB-0.05; Beitap=Beita-0.5*RP; wp=wp0*exp(-4*Beitap^2); Jp=u*(1-wp)/(Dp*np); Kt=0.25035*Jp^3-0.58638*Jp^2-0.067363*Jp+0.42379; XP=(1-tp)*midu*np^2*Dp^4*Kt; %舵力的计算 S=1-u*(1-wp)/np*P; lamuda=2*hR/(b1+b2); fa=6.13*lamuda/(2.25+lamuda); sita=Dp/hR; gs=sita*(0.6/epxlong)*S*(2-(2-(0.6/epxlong))*S)/(1-S)^2; c1=1; uR=u*(1-wp)*sqrt(1+c1*gs); vR=(1.163314-1.982836*CB+1.390152*CB^2)*(v-L*r); UR=sqrt(uR^2+vR^2); S0=1-u*(1-wp0)/np*P; delta0=-(2*S0+0.6); alfaR=delta-delta0-atan(vR/uR); tR=1-(0.7382-0.0539*CB+0.1755*CB^2); aH=0.6784-1.3374*CB+1.8891*CB^2; xR=-0.5*L; xH=-(0.4+0.1*CB)*L; zR=ZG-D+hs; FN=0.5*midu*0.5*(b1+b2)*hR*fa*UR^2*sin(alfaR); XR=-(1-tR)*FN*sin(delta); YR=(1+aH)*FN*cos(delta); NR=(xR+aH*xH)*FN*cos(delta); KR=(1+aH)*zR*FN*cos(delta); if ((y(1)-a1*t-a01)^2+(y(2)-b1*t-b01)^2-r1^2)^2>=0 h1=0; else h1=2000; end dy(1)=y(5)*cos(y(3))-y(6)*cos(y(4))*sin(y(3)); dy(2)=y(5)*sin(y(3))-y(6)*cos(y(4))*cos(y(3)); dy(3)=y(7)*cos(y(4)); dy(4)=y(8); dy(5)=(XH+XP+XR+(m+m22)*y(6)*y(7))/(m+m11); dy(6)=(YH+YR-(m+m11)*y(5)*y(7))/(m+m22); dy(7)=(NH+NR)/(IZ+m66); dy(8)=(KH+KR)/(m*(B^2+4*ZG^2)/12); dy(9)=((y(1)-a1*t-a01)^2+(y(2)-b1*t-b01)^2-r1^2)^2*h1; function dlami=xietong(t,y,mp,zhichuan) % dlami=zeros(9,1); x0=zhichuan(1); y0=zhichuan(2); bosai=zhichuan(3); FAI=zhichuan(4); u=zhichuan(5); v=zhichuan(6); r=zhichuan(7); p=zhichuan(8); x9=zhichuan(9); delta=mp(1); a1=mp(2); a01=mp(3); b1=mp(4); b01=mp(5); r1=mp(6); lami1=y(1); lami2=y(2); lami3=y(3); lami4=y(4); lami5=y(5); lami6=y(6); lami7=y(7); lami8=y(8); lami9=y(9) if ((x0-a1*t-a01)^2+(y0-b1*t-b01)^2-r1^2)^2>=0 h1=0; else h1=2000; end syms H x0 y0 bosai FAI u v r p delta lami1 lami2 lami3 lami4 lami5 lami6 lami7 lami8 lami9 a1 a01 b1 b01 r1 t h1; H=(x0^2+y0^2)^(1/2)+lami1*(u*cos(bosai)-1.*v*cos(FAI)*sin(bosai))+lami2*(u*sin(bosai)-1.*v*cos(FAI)*cos(bosai))+lami3*r*cos(FAI)+lami4*p+lami5*(1.*v*r-.1e-5*u^4+.8e-5*u^3-.2e-3*u^2-.5e-3*u+.2e-1+.6e-5*u^3*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^3-.2e-3*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2-.3e-3*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))+.1e-7*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*sin(delta))+lami6*(-.4e-2*(u^2+v^2)^(1/2)*v+.3*(u^2+v^2)^(1/2)*r-.1e-1*v*abs(v)-1.*r*abs(v)-.6e2*r*abs(r)-.2e-7*(.3e2*u^2*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2*(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)+.4e5*(.5*v-.1e3*r)^2)*sin(-1.*delta-3.+2.*u+atan(.4e2*(.5*v-.1e3*r)/u/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))/(.1e4+.9e3*(.4-.5*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))*(.7+2.*u*(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2)))/u^2/(1.-.2*exp(-4.*(-1.*atan(v/u)-.1e3*r/(u^2+v^2)^(1/2))^2))^2)^(1/2)))*cos(delta)-.8*u*r)+lami7*(-.8e-4*(u^2+v^2)^(1/2)*v-.1e-1*(u^2+v^2)^(1/2)*r-.2*v^2*r-5.*r*abs(r)-6.*v*r^2+.4e-11*(-.3e7*u^2