一种微小型无人船控制系统设计及航向控制方法研究

Miniature Unmanned Ship Control System Design and Research of Heading Control Methods

摘要:

无人船在保护海洋环境和开发海洋资源方面具有广泛的应用前景和市场价值；微型无人船研制成本低、机动灵活、携带方便且易于开展实验,相比常规水面无人平台有明显优势；微小型无人船不仅可以用于海洋环境监测,也可以作为海上通信中继平台,在军事应用领域也有其潜在应用价值；文章设计了一种基于ARM的微小型无人船控制系统,同时进行了详细的控制系统硬件设计和软件设计,并通过水池实验结果验证了该控制系统的有效性和实用性；此外,针对无人船航行过程中存在风浪流混合干扰的问题,结合模糊控制技术和传统的PID控制技术,提出了一种模糊PD控制算法,实现了PD控制参数的在线自适应优化调整,进行了相应的水池试验并与传统PD控制算法进行了对比分析。

Abstract:

Unmanned ships have broad application prospects and market value for protecting the marine environment and developing the marine resources. Miniature unmanned ships have the advantages of low cost, flexible mobility, easy to carry and easy to carry out experiments; Micro unmanned ship can not only be used for marine environmental monitoring, but also become a communication relay platform. This paper has designed a kind of micro unmanned ship control system based on ARM, at the same time designed the control system hardware and software, and verify the validity and practicability of the control system by the tank experiment results. In addition, for unmanned ship heading control in the presence of wind, wave and current hybrid interference, a fuzzy PD control algorithm has been put forward, combined with the fuzzy control technology and traditional PID control technology; the PD control parameters online adaptive optimization and adjustment has been realized; the corresponding pool experiments and the traditional PD control algorithm comparative analysis have been finished.