摘要
针对单喷泵水面无人艇在运动中的强非线性因素和传统运动控制系统功能单一、集成度低、控制效果不理想等问题,开发并设计了一套应用于水面高速无人艇的综合运动控制系统。此系统以PC104嵌入式上位计算机和底层可编程控制器为核心模块,通过Matlab/simlink工具箱和VC6.0开发工具,完成了系统模型、航向与航速控制算法的建立,以及控制软件界面的搭建与编制工作。然后,在仿真实验和实艇下水试验中,完成了远程运动控制操纵、实时定位检测以及多任务传感器的数据采集与集成等功能。试验结果表明:艇上采集与分析的传感器数据可靠,远距离运动控制可靠,系统整体具有良好的工程化发展前景。
Considering strong nonlinear factors of the single waterjet-propelled unmanned surface vehicle （USV）, an integrated motion control system is developed in this paper. In this system, the embedded computer PC104 and the PLC are taken as kernel parts, while software and control algorithm is accomplished by using Matlab/Simulink toolbox and Microsoft Visual C＋＋ 6.0. The system has successfully achieved the design function such as the long- distance movement control, acquisition and display of data from various kinds of sensors. The results show that the data acquisition and analysis of the motion control system are credible, and the long-distance control is effective. In summary, the system has a good prospect of engineering development.
作者
陈超
阚亚雄
CHEN Chao KAN Yaxiong(School of Mechanical Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China)
出处
《中国造船》
EI
CSCD
北大核心
2016年第4期139-146,共8页
Shipbuilding of China
