自主湖水环境监测船的运动控制系统设计

Motion Control System Design of Autonomous Monitoring Ship for Lake Water Environment

设计自主湖水环境监测船的运动控制系统,包括由GPS和电子罗盘构成的导航系统、超声传感器避障系统、太阳能和蓄电池配合的自主能源供给系统。采用超声、红外传感器和机械卡环设计自动泊位装置。基于坐标系变换,建立自主船的运动学模型。针对双电机的转速控制,设计实现三层递阶控制器及滑膜变结构转速控制算法。实验结果表明,滑膜控制能较好地排除水流速度的突变干扰,差动转向平稳,自主船可实现自动泊位和能源自给,运动控制系统稳定,速度响应小于4 s,大角度转向响应小于13 s。

This paper designs motion control system of autonomous monitoring ship for lake water environment. The navigation system is designed using GPS and electronic compass, ultrasonic sensors are adopted for avoiding obstacles. The autonomous power supply system using solar power and battery is given. The automatic parking system composed of ultrasound, infrared sensors and mechanical clasp is established. Based on coordinate transformation, the kinematic model of autonomous ship is formulated. The hierarchical controller structure and sliding model control algorithm are designed for the speed control of double motors. Experimental results show that sliding model control can adapt to the mutation interference of flow, and turning is smooth. Autonomous ship can achieve automatic self-shipping berths and energy self-sufficiency, The navigation and control systems are valuable and velocity response time is less than 4 s and large angle rotation response time is less than 13 s.