吊舱推进的小型水面无人船航迹控制系统设计
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摘要
为解决适应内河通航环境的小型水面无人船(USV)航迹控制的快速性和鲁棒性问题,以小型水面无人船为研究对象,设计一种基于吊舱推进的USV航迹控制系统,该航迹控制系统由航迹控制器、航向控制器、转向操作机构、电罗经、D-GPS,以及角度检测传感器组成。其中航迹控制采用改进的LOS(Line of Sight)导航算法;航向控制器由两级模糊控制器构成,可同时满足大角度转向控制和小角度航向保持的性能要求。仿真和实船试验结果皆表明,该控制系统能够满足内河复杂通航条件下USV对航迹控制的要求。
To solve the problems of speed and robustness of track control for small unmanned surface vehicle( USV) in the inland water navigation environment,a USV track control system was designed based on the pod propulsion,which was compose of track controller,course controller,steering mechanism,electronic compass,D-GPS and rudder angle measuring instrument.The improved LOS( Line of Sight) navigation algorithm was used by the track controller. The heading controller included two fuzzy controllers,which can meet the requirements of large-angle steering control and small-angle course keeping. The simulation results of real ship sailing experiments showed that this control system can meet USV's requirement of track control under complex conditions of inland navigation.
To solve the problems of speed and robustness of track control for small unmanned surface vehicle( USV) in the inland water navigation environment,a USV track control system was designed based on the pod propulsion,which was compose of track controller,course controller,steering mechanism,electronic compass,D-GPS and rudder angle measuring instrument.The improved LOS( Line of Sight) navigation algorithm was used by the track controller. The heading controller included two fuzzy controllers,which can meet the requirements of large-angle steering control and small-angle course keeping. The simulation results of real ship sailing experiments showed that this control system can meet USV's requirement of track control under complex conditions of inland navigation.
引文
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[6]董早鹏,刘涛,万磊,等.基于Takagi-Sugeno模糊神经网络的欠驱动无人艇直线航迹跟踪控制[J].仪器仪表学报,2015,36(4):863-870.
[7]马骋.吊舱推进技术[M].上海:上海交通大学出版社,2009.
[8]王波.基于滑模的船舶直线航迹控制设计及优化[D].大连:大连海事大学,2014.
[9]YAN Dandan,XIAO Changshi.Pod propulsion small surface USV heading control research[C].Proceedings of the International Offshore and Polar Engineering Conference.2016:630-635.
[10]葛增鲁.无人艇航向运动控制器的设计与实现[D].大连:大连海事大学,2016.
[2]OMERDIC E,ROBERTS G N,VUKIC Z.A fuzy trackkeeping autopilot for ship steering[J].Journal of marine engineering and technology,2003(2):23-35.
[3]FRAGA R,SHENG L.Double fuzzy logic control for the ship path following[C].Intelligent Control and Information Processing(ICICIP),2011 2ndInternational Conference on.IEEE,2011.
[4]FRAGA R,SHENG L.Fuzzy technique tracking control for multiple unmanned ships[J].Research Journal of Applied Sciences,2013,5(2):538-545.
[5]郝阳,赵新华.船舶航迹自校正模糊自动驾驶仪设计[J].控制工程,2014(增刊1):73-75.
[6]董早鹏,刘涛,万磊,等.基于Takagi-Sugeno模糊神经网络的欠驱动无人艇直线航迹跟踪控制[J].仪器仪表学报,2015,36(4):863-870.
[7]马骋.吊舱推进技术[M].上海:上海交通大学出版社,2009.
[8]王波.基于滑模的船舶直线航迹控制设计及优化[D].大连:大连海事大学,2014.
[9]YAN Dandan,XIAO Changshi.Pod propulsion small surface USV heading control research[C].Proceedings of the International Offshore and Polar Engineering Conference.2016:630-635.
[10]葛增鲁.无人艇航向运动控制器的设计与实现[D].大连:大连海事大学,2016.