摘要
针对欠驱动无人艇开展了其基础运动控制策略设计的研究.首先详细地介绍了喷水推进无人艇的运动控制系统的构成,并根据喷水推进器推进原理的特点,可得出该无人艇系统是欠驱动的、快变的非线性耦合系统;然后根据人类小脑的运动协调功能,提出基于倒车斗、喷嘴转角和发动机转速协调控制的仿人智能控制策略,实现了对无人艇的完全运动控制,提高了其操纵性和灵活性;并根据该思想设计了无人艇的基础运动控制系统的软件体系结构.最后进行了无人艇在各种航行状态下的运动控制仿真试验,仿真结果表明了该仿人智能运动控制策略的有效性.
Design of the basic motion control strategy for the under-actuated Unmanned Surface Vehicle （USV） is undertaken. Firstly, the motion control system architecture of the water-jet propelled USV is introduced in detail. According to the characteristic of water-jet propulsion principle, the USV system is an under-actuated, time-varying and nonlinear coupled system. Secondly, simulating the coordination control function of the human cerebella, the human-simulate control strategy is proposed based on the coordination control of astern deflector rotating, nozzle rotating and engine rotation speed. So the full controlling of the surface vehicle in various sailing states is achieved, and its manoeuvrability and agility are improved. Then the software architecture for the control system is designed using this idea. Finally, the USV motion control simulation tests are undertaken in different sailing states. And the simulation validates the effectiveness of the human-simulate control strategy.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2010年第2期257-262,共6页
Control Theory & Applications
基金
supported by the State Security Important Basic Project Research Fund(61311101)
the State Natural Science Fundation of China(50579007)
the State 863 Fund(2008AA092301)
Research Fund from National Defence Key Laboratory of AutonomousUnderwater Vehicle Technology(2008003)
关键词
仿人智能
小脑模型
控制策略
无人艇
喷水推进
human-simulate
cerebella model
control strategy
unmanned surface vehicle
water-jet propulsion
